Stoke made the better start of the two teams and they were ahead on eight minutes thanks to a fine finish from striker Jonathan Walters.
The Hoops looked strong on the counter attack and they pulled the scores level, when Helguson found himself free in the box to head the ball home.
And just before the break it was the visitors who took the lead thanks to a decent strike from Luke Young into the top of the net.
QPR extended their lead on 54 minutes as Helguson bagged his second with a poachers goal in the box.
The Potters were able to pull one back thanks to a header from defender Ryan Shawcross on 64 minutes but, despite late pressure, QPR held on for the win.