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The message brics_actuator/JointPositions has:

brics_actuator/JointValue[] positions

This is a list of JointValue variables.

This means you can 'push back' the values for two joints and you will get both joints moving. JointValue looks like this:

time timeStamp
string joint_uri
string unit
float64 value

Create two separate JointValue variables and fill them up with the stuff for both joints. Create a 'goal' message with JointPositions. Then, push them unto goal.positions.

goal.positions.push_back(first_finger_value);
goal.positions.push_back(second_finger_value);

I hope that helps. Have a great day ahead!