To know for sure:
1. Consult your repair manual: A factory service manual for your specific year and model Grand Caravan will provide the exact sizes and torque specifications.
2. Look at the bolts: Before you start, visually inspect the caliper bracket bolts on your vehicle. This will tell you the type of fastener (Allen key or otherwise) and the size.
Don't rely on general information. Using the wrong size could strip the bolt head, making the job much more difficult.