You can use Net::OpenSSH and Net::OpenSSH::Gateway. The later is not on CPAN yet because I am not completely happy with its internals, but otherwise it is completely functional.

Once installed, you can run:

my $ssh = Net::OpenSSH->new($target,
                            gateway => { proxies => ['ssh://serverA',
                                                     'ssh://serverB'] 
+});

my $output = $ssh->capture('ls');
[download]

Under the hood it uses several tricks to find a way to jump from one hop to the next, as creating tunnels or running any of socat, netcat or perl.

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