For sexagesimal notation omit the format parameter:

#!/usr/bin/perl 

use strict;
use warnings;
use Time::Piece;
use Astro::Coords;

print qq/Planet\tRight Ascension\t\tDeclination\n/; 

for my $name (qw/Jupiter Saturn/) {

  my $planet = Astro::Coords->new(planet => $name);

  $planet->datetime(Time::Piece->new);

  my $ra  = $planet->ra; 
  my $dec = $planet->dec; 

  print qq/$name\t$ra\t$dec\n/
}
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Output:

Planet	Right Ascension		Declination
Jupiter	20:00:56.326	-21:00:51.63
Saturn	20:05:29.464	-20:41:17.35