Yes, you can use a separate charger to charge the batteries.
Your two 6 VDC batteries are wired in SERIES to make a "12 VDC battery". So, hook up a 12 VDC charger with the positive lead to the positive lead of the battery going to the RV systems. Negative to the negative lead of the other battery (where the ground goes to the RV).
A "stupid" charger is fine, but you will need to monitor voltage and turn it on/off to keep voltage between 13.2 and 14 VDC. A little above that is fine for short periods if batteries are deeply discharged. Monitor water levels and add distilled water as needed.
A smart charger/maintainer is a MUCH better idea, particularly if you are looking for a device to keep batteries charged while in storage.