Suppose you have a data frame like this one:
df<-data.frame(A=c("$5,33","$3,55"),B=c(T,F))
Then you could replace column A with
df$A<-gsub("\\$","",df$A)
You have to use \ or fixed=T for gsub to understand that $ (or %) are what you want to get replaced.
If you want one line for $ and % you can use "OR" opperator (|)
df$A<-gsub("\\$|%","",df$A)
UPDATE:
Maybe you want it that way but take into account that your numbers are formatted with commas and will stay as characters for R. You're probably going to substitute the comma later.
To do that we have to get rid of the commas using the expression "\," (again we must escape the comas with \)
df$A<-as.numeric(gsub("\\,","",df$A))
df
A B
1 533 TRUE
2 355 FALSE
Notice now, A column is numeric
str(df)
'data.frame': 2 obs. of 2 variables:
$ A: num 533 355
$ B: logi TRUE FALSE
Again, you could have done everything with one line but I'm guessing it would be more easy for you in two lines.