Both destinations are served by Agra (AGR). Since there's no flight route between them, the best way to travel is by road.
Vrindavan
Fly to Agra (AGR), then travel by road to Vrindavan. Taxis, buses, and private cabs are available from the airport.
Agra
Fly to Kheria (AGR), then travel by road to Agra. Local transport options include taxis, auto-rickshaws, and state buses.