Hadila,
What an interesting question. For grammars and know-it-alls it is very nice to have some hard and fast rules to go by. Unfortunately human grammars are not so easily codified.
"We are going on holiday tomorrow."
This is the present progressive, and is not truly a future tense, but it is used that way more than often.
What is more common to signify the future is "to be going to +verb stem," "gonna" if you will, although the verb "to go" can drop out from behind "going to."
"Will" is a modal that has come to signifly a future event.
As a general rule of thumb:
The simple present progressive is used for things that are going to happen in the immediate future in realtionship to other events:
"We are going on holiday tomorrow."
The "gonna" future is used for things in the immediate to somewhat distant future.
"We are going to go on vacation next week."
The future tense using the model "will" is used for at least three circumstanses, intermediate to distant future, emphasis, or volition:
"We will go on vacation next month."
"We will go on vacation, whether you like it or not!"
"We will go on vaction, if it the last thing we do!"
Please don’t take this as exhaustive; there are many subtlties.
Now back to your question!
1. "What are you doing, Jane?" "I’m packing my suitcase. We are going on holiday tomorrow"
This is very natural sounding in this context, very matter of fact."
2. "What are you doing, Jane?" "I’m packing my suitcase. We are going to go on holiday tomorrow."
This is or could have a little more background. Jane may be surprized that the questioner doesn’t know, the plans have been reinstated, or a sudden plan to get away from Jane by going on vacation.
3. "What are you doing, Jane?" "I’m packing my suitcase. "We will go on vacation tomorrow."
I don’t like this form in this context. The future expressed in the "will" is to distant for the tomorrow here, though it isn’t just the "tomorrow," I’m not sure what it is.
"What are you doing, Jane?" "I’m packing my suitcase. You guys went on vacation last week. We will go on vacation tomorrow."
Here with more context, matching the event to something in the past makes more sense.
I found these to be helpful:
Rose of York
Simple Present
Simple Future
Sitran