It depends how they are set up. If they are little printers which connect to a Linux machine running CUPS as the printer server software, and if you have the CUPS web interface accessible from your machine, then you can go to the completed job list in the CUPS web interface.
For example, on your own computer (localhost) this would be:
http://localhost:631/jobs?which_jobs=completed
If your printers are big office printers with their own spooling software, then it's a matter of looking in the printer manuals for how to get access logs.
