Use makeqtl() followed by fitqtl(), the latter with get.ests=TRUE.
You can get estimates for each in single-QTL models, or look at the estimates in a two-QTL, additive model.
qtl <- makeqtl(cross, c(3,7), c(59.40, 8.61), what="prob")
out_chr3 <- fitqtl(cross, pheno.col=14, qtl=qtl, formula=y~q1, get.ests=TRUE, method="hk")
out_chr7 <- fitqtl(cross, pheno.col=14, qtl=qtl, formula=y~q2, get.ests=TRUE, method="hk")
out_both <- fitqtl(cross, pheno.col=14, qtl=qtl, formula=y~q1+q2, get.ests=TRUE, method="hk")
summary(out_chr3)