You can use variables that SageMath can understand:
sage: macaulay2('apply(subsets(6,3), i -> "p" | concatenate(apply(i, toString)))')
{p012, p013, p023, p123, p014, p024, p124, p034, p134, p234, p015, p025, p125, p035, p135, p235, p045, p145, p245, p345}
So:
sage: R = macaulay2('QQ[apply(subsets(6,3), i -> "p" | concatenate(apply(i, toString)))]')
sage: G = macaulay2.Grassmannian(2,5,R)
sage: G.sage()
Ideal (p235*p145 - p135*p245 + p125*p345, p234*p145 - p134*p245 + p124*p345, p235*p045 - p035*p245 + p025*p345, p135*p045 - p035*p145 + p015*p345, p125*p045 - p025*p145 + p015*p245, p234*p045 - p034*p245 + p024*p345, p134*p045 - p034*p145 + p014*p345, p124*p045 - p024*p145 + p014*p245, p123*p045 - p023*p145 + p013*p245 - p012*p345, p234*p135 - p134*p235 + p123*p345, p125*p035 - p025*p135 + p015*p235, p234*p035 - p034*p235 + p023*p345, p134*p035 - p034*p135 + p013*p345, p124*p035 - p024*p135 + p014*p235 + p012*p345, p123*p035 - p023*p135 + p013*p235, p234*p125 - p124*p235 + p123*p245, p134*p125 - p124*p135 + p123*p145, p034*p125 - p024*p135 + p014*p235 + p023*p145 - p013*p245 + p012*p345, p234*p025 - p024*p235 + p023*p245, p134*p025 - p024*p135 + p023*p145 + p012*p345, p034*p025 - p024*p035 + p023*p045, p124*p025 - p024*p125 + p012*p245, p123*p025 - p023*p125 + p012*p235, p234*p015 - p014*p235 + p013*p245 - p012*p345, p134*p015 - p014*p135 + p013*p145, p034*p015 - p014*p035 + p013*p045, p124*p015 - p014*p125 + p012*p145, p024*p015 - p014*p025 + p012*p045, p123*p015 - p013*p125 + p012*p135, p023*p015 - p013*p025 + p012*p035, p124*p034 - p024*p134 + p014*p234, p123*p034 - p023*p134 + p013*p234, p123*p024 - p023*p124 + p012*p234, p123*p014 - p013*p124 + p012*p134, p023*p014 - p013*p024 + p012*p034) of Multivariate Polynomial Ring in p012, p013, p023, p123, p014, p024, p124, p034, p134, p234, p015, p025, p125, p035, p135, p235, p045, p145, p245, p345 over Rational Field
When you have numbers higher than 9 appearing you can add a separator like this:
sage: macaulay2('apply(subsets(11,11), i -> "p" | concatenate(apply(i, v -> "x" | toString v)))')
{px0x1x2x3x4x5x6x7x8x9x10}
I tried using an underscore as the separator at first but I didn't manage to make it work.