Start with a list of the frames' names, then something like this is a quick hack:
frames <- c("iris","mtcars")
unlist(sapply(frames, function(d) c(paste("#'", d), "#' @format data.frame",
                                    gsub("^","#'",capture.output(str(get(d)))),
                                    dQuote(d)),
              simplify=FALSE), use.names=FALSE)
#  [1] "#' iris"                                                                                    
#  [2] "#' @format data.frame"                                                                      
#  [3] "#''data.frame':\t150 obs. of  5 variables:"                                                  
#  [4] "#' $ Sepal.Length: num  5.1 4.9 4.7 4.6 5 5.4 4.6 5 4.4 4.9 ..."                            
#  [5] "#' $ Sepal.Width : num  3.5 3 3.2 3.1 3.6 3.9 3.4 3.4 2.9 3.1 ..."                          
#  [6] "#' $ Petal.Length: num  1.4 1.4 1.3 1.5 1.4 1.7 1.4 1.5 1.4 1.5 ..."                        
#  [7] "#' $ Petal.Width : num  0.2 0.2 0.2 0.2 0.2 0.4 0.3 0.2 0.2 0.1 ..."                        
#  [8] "#' $ Species     : Factor w/ 3 levels \"setosa\",\"versicolor\",..: 1 1 1 1 1 1 1 1 1 1 ..."
#  [9] "\"iris\""                                                                                   
# [10] "#' mtcars"                                                                                  
# [11] "#' @format data.frame"                                                                      
# [12] "#''data.frame':\t32 obs. of  11 variables:"                                                  
# [13] "#' $ mpg : num  21 21 22.8 21.4 18.7 18.1 14.3 24.4 22.8 19.2 ..."                          
# [14] "#' $ cyl : num  6 6 4 6 8 6 8 4 4 6 ..."                                                    
# [15] "#' $ disp: num  160 160 108 258 360 ..."                                                    
# [16] "#' $ hp  : num  110 110 93 110 175 105 245 62 95 123 ..."                                   
# [17] "#' $ drat: num  3.9 3.9 3.85 3.08 3.15 2.76 3.21 3.69 3.92 3.92 ..."                        
# [18] "#' $ wt  : num  2.62 2.88 2.32 3.21 3.44 ..."                                               
# [19] "#' $ qsec: num  16.5 17 18.6 19.4 17 ..."                                                   
# [20] "#' $ vs  : num  0 0 1 1 0 1 0 1 1 1 ..."                                                    
# [21] "#' $ am  : num  1 1 1 0 0 0 0 0 0 0 ..."                                                    
# [22] "#' $ gear: num  4 4 4 3 3 3 3 4 4 4 ..."                                                    
# [23] "#' $ carb: num  4 4 1 1 2 1 4 2 2 4 ..."                                                    
# [24] "\"mtcars\""                                                                                 
Then you can cat it out to a file and have most of what you need.