Use ip6config:
[qgo@Draco]:~$ sudo zsh
Password:
[root@Draco]:~# ip6config start-stf ppp0
Starting 6to4 on ppp0.
add net default: gateway 2002:c058:6301::
[root@Draco]:~# ping6 3ffe:501:4819:2000:210:f3ff:fe03:4d0
PING6(56=40+8+8 bytes) 2002:508a:a80c:1::1 --> 3ffe:501:4819:2000:210:f3ff:fe03:4d0
16 bytes from 3ffe:501:4819:2000:210:f3ff:fe03:4d0, icmp_seq=0 hlim=60 time=359.057 ms
16 bytes from 3ffe:501:4819:2000:210:f3ff:fe03:4d0, icmp_seq=1 hlim=60 time=359.432 ms
^C
--- apple.kame.net ping6 statistics ---
3 packets transmitted, 2 packets received, 33% packet loss
round-trip min/avg/max = 359.057/359.245/359.432 ms