Vega 2.6 can have axis tick labels formatted using d3.js v3 functions. See "Custom Axis Styles":
Vega 2.6 spec (from example above)
----------------
...
"axes": [
{
"type": "x",
"scale": "x",
"title": "X-Axis",
"properties": {
"ticks": {
"stroke": {"value": "steelblue"}
},
"majorTicks": {
"strokeWidth": {"value": 2}
},
"labels": {
"text": {"template": "{{ datum.data | number: '+,' }}" },
"fill": {"value": "steelblue"},
"angle": {"value": 50},
"fontSize": {"value": 14},
"align": {"value": "left"},
"baseline": {"value": "middle"},
"dx": {"value": 3}
},
"title": {
"fontSize": {"value": 16}
},
...
Here is an example of a modified version of example "driving":

Vega 3.0 beta can do the same using d3.js v4 but the syntax is a bit different.