You have to be careful about the meaning of your vectors. From what you write, I conclude that [itex]|q(t) \rangle[/itex] are the (generalized) eigenvectors of some operator representing an observable in the Heisenberg picture. Then, from the Heisenberg equation of motion
[tex]\mathrm{d}_t \hat{O}=\frac{1}{\mathrm{i}}[\hat{O},\hat{H}].[/tex]
Assuming we have time independent Hamiltonian and that implies
[tex]\hat{O}(t)=\exp(\mathrm{i} t \hat{H}) \hat{O}(0) \exp(-\mathrm{i} t \hat{H}).[/tex] For sake of simplicity, I've set [itex]t_0=0[/itex].
Now by definition [itex]|q(t) \rangle[/itex] is the eigenvector of [itex]\hat{O}(t)[/itex] with the fixed eigenvalue [itex]q[/itex]:
[tex]\forall t: \quad \hat{O}(t) |q(t) \rangle=q |q(t) \rangle.[/tex]
This implies that
[tex]|q(t) \rangle=\exp(\mathrm{i} t \hat{H}) |q(0) \rangle.[/tex]
So up to a sign this implies your formula.
Of course, because the time evolution is unitary, the scalar product is time independent
[tex]\langle q(t)|q'(t) \rangle=\langle q(0) | q'(0) \rangle=\delta(q,q'),[/tex]
where the [itex]\delta[/itex] stands for a Kronecker [itex]\delta[/itex] (discrete eigenvalues) or a Dirac [itex]\delta[/itex] distribution (continuous eigenvalues).