Anyone know if this is possible?
I figured I'd wait to post since I really don't have any experience with this sort of thing, but since you haven't gotten a definite/specific answer, I
will second Cogman's comment about the PCL reset command (which is the 2-character sequence "ESC<hex 1B>E", fwiw.) As far as I can tell from a brief review of the PCL documentation, that should work on any printer that uses/can use PCL, but I don't know that for sure. Exactly how you'd get the command to the printers without sending a full blown document, I don't really know. But maybe something as simple as a BAT file with a "type" command redirected or piped to the relevant ports would do it? If that works, it would be easy enough to run such a file as a scheduled task.
On another note, have you checked the printers' settings to see if you can simply disable sleep mode entirely, or at least make the timeout period long enough so that it becomes less of a practical problem? (I just checked my low-end Brother printer, and that won't let me disable sleep mode entirely and will let me extend the timeout period to a max of only 99 minutes, but I'd think even that would probably be long enough in most office/work environments?)