You can use the translate() function:
Applied to an identity transform to replace those characters with a ,
:
<?xml version="1.0" encoding="UTF-8"?>
<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
version="1.0">
<xsl:template match="@*| node()">
<xsl:copy>
<xsl:apply-templates select="@*|node()"/>
</xsl:copy>
</xsl:template>
<xsl:template match="text()">
<xsl:value-of select="translate(., '&/', ',,')"/>
</xsl:template>
</xsl:stylesheet>
With XSLT/XPath 2.0 you can use the replace() function, which provides a more robust capability for find/replace operations and normalization of leading/trailing whitespace, etc.
<?xml version="1.0" encoding="UTF-8"?>
<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
version="2.0">
<xsl:template match="@*| node()">
<xsl:copy>
<xsl:apply-templates select="@*|node()"/>
</xsl:copy>
</xsl:template>
<xsl:template match="text()">
<xsl:value-of select="replace(., '\s?(&|/)\s?', ', ')"/>
</xsl:template>
</xsl:stylesheet>