Near-field microscopy is widely used for characterizing electromagnetic fields at nanoscale, where nanoprobes afford the opportunity to extract subwavelength optical quantities, including the amplitude, phase, polarization, chirality, etc. However, owing to the complexity of various nanoprobes, a general and intuitive theory is highly desired to assess the vectorial responses of nanoprobes and interpret the mechanism of the probe-field interaction. Here, we develop a general imaging theory based on the reciprocity of electromagnetism and multipole expansion analysis. The proposed theory closely resembles the multipolar Hamiltonian for light-matter interaction energy, revealing the coupling mechanism of the probe-field interaction. Based on this theory, we introduce a new paradigm for the design of functional nanoprobes by analyzing the reciprocal dipole moments, and establish effective design principles for the imaging of vectorial near fields. As application examples of the proposed theory, we numerically analyze the responses of two typical probes, a split-ring probe and a nanoparticle probe, which can quantitatively reproduce and well explain the experimental results of previously reported measurements of the optical magnetism and the transverse spin angular momentum. Our work provides a powerful tool for the design and analysis of new functional probes that may enable the probing of various physical quantities of the vectorial near field.