Vasculogenesis and angiogenesis are fundamental processes for the formation and restoration of circulatory system, which plays important role in embryonic organ development, adult wound healing and reproduction. Vascular endothelial cells are the foundation of cardiovascular systems. Although it has been proved that several kinds of stem cells could be induced to generate endothelial cells ex vivo, there are still some shortages in these cell sources. Depending on the multipotency and infinitive reproductive capability, human embryonic stem cells (hESCs) become the new sources. However, the efficiency for deriving endothelial progenitor/ endothelial cells (EPCs/ECs) from hESCs is low. To increase endothelial induction efficiency, we used a two-stage induction protocol. By the treatment of different cytokine cocktails at different stages and the using of Matrigel matrix, we obtained about 16% CD31⁺KDR⁺ cells from hESCs. The following endothelial induction stage with EGM2 medium showed approximate 32% subgroup of EPCs/ECs. The derived cells had the capability for tube-like structure formation on Matrigel and the ability to cohere with fluorescein griffonia (bandeiraea) simplicifolia lectinⅡ. Q-PCR indicated that the induced cells express endothelial specific genes. Immunofluorescence detection indicated the expression of endothelial specific marker-CD31. Taken together, we have successfully derived EPCs/ECs from human embryonic stem cells with a modified method.