Several SQL implementations now have (years after this question was originally asked) a "vector" type.
SQLite now has sqlite-vec : a vector search SQLite extension
MariaDB now has MariaDB Vector
PostgreSQL now has pgvector
MySQL now has the VECTOR type; (see also How do I create a field with a vector type in MySQL? and Storing vector coordinates in MySQL )
Azure SQL Database has the Vector data type
They have some advantages and disadvantages compared to the traditional "bridging table" approach in Nickthename's answer.