Can we delete software that is labeled disabled?

Unless that software is installed as part of macOS, then yes, you can delete it. Usually it's just a matter of dragging the software from its folder to the Trash bin in the Dock, or select the app and press Command-Delete (⌘⌫). Then empty the Trash and restart.

Can you name some of the apps that you ask about?

Sometimes you must use an 'uninstall' utility that came with the application. Those are usually found in the folder where the application lives, sometimes in the apps menu somewhere. More complex apps would require an uninstaller - Office, Adobe, etc.

A lot of software provided by manufacturers for printers over the years has become obsolete. Very many printers that are Mac compatible today use the AirPrint system which doesn't rely on those software drivers that once were ubiquitous.

If your printer/scanner/copier is work as it should today, I'd say you could safely delete those disable files. I think in a worst case scenario you can always download those printer drivers again from the mfg websites.