RF Transmitter and Receiver WRL-10535 and WRL-10533

Sure, just translate the hexcodes into letters. Translation is available at asciitable.com

Say you get 1 character at a time:

    // mapping from incoming character to font_array or other commands: \ + = < >
    // invalid characters are not defined and are ignored
    switch(incomingByte){
    case 0x20:
Serial.print(" ");
      break;
    case 0x21:
Serial.print("!");
break;
    case 0x2d:
      Serial.print("-");
      break;
    case 0x2e:
      Serial.print(".");
      break;
    case 0x2f:
      Serial.print("/");
      break;
    case 0x30:
      Serial.print("0");
      break;
    case 0x31:
      Serial.print("1");
      break;
 // etc.   
}