given dataframe x:
>>> import pandas as pd
>>> x = pd.DataFrame([['aa','ab','ac','ad'],['aaa','abb','acc','add']],columns=['A','B','C','D'])
>>> x
     A    B    C    D
0   aa   ab   ac   ad
1  aaa  abb  acc  add
You can use this function. However, there is no guarantee that no loops are done internally in pandas and numpy functions used here.
>>> import numpy as np
>>> def to_xml(df):
...     
...     #extract columns and repeat them by number of rows
...     cols = df.columns.tolist()*len(df.index)
...     
...     #convert df to numpy and reshape columns to one vector
...     df_numpy = np.array(df)
...     df_numpy = df_numpy.reshape(np.dot(*df_numpy.shape))
...     
...     #convert columns and numpy array to pandas and apply function that formats each row, convert to list
...     listlike = pd.DataFrame([df_numpy,cols]).apply(lambda x: '<{0}>{1}</{0}>'.format(x[1],x[0])).tolist()
...    
...     #return list of rows joined with newline character
...     return '\n'.join(listlike)
output:
>>> print(to_xml(x))
<A>aa</A>
<B>ab</B>
<C>ac</C>
<D>ad</D>
<A>aaa</A>
<B>abb</B>
<C>acc</C>
<D>add</D>