Firstly we have to set dataf variable to Data Frame
dataf<-as.data.frame(cbind(d1,d2))
dataf$d1<-as.Date(dataf$d1)
dataf$d2<-as.Date(dataf$d2)
Now our Mulitiple characters have been change to Date Format 
 d1         d2
1 2018-02-07 2018-01-11
2 2018-06-03 2016-09-10
3 2018-05-09 2016-02-17
By str (Structure) commad we can verify
'data.frame':	3 obs. of  2 variables:
 $ d1: Date, format: "2018-02-07" "2018-06-03" ...
 $ d2: Date, format: "2018-01-11" "2016-09-10" ...