I would like to know if it is possible to establish a communication between two Arduinos using this APC220 module without using external software like RF-Magic. I need an Arduino / APC220 to send a transmission and be received by another Arduino / APC220 and print the data transmitted on the serial. any suggestion ?
These modules are made to provide a virtual UART connection wirelessly. So the answer to your question is yes.
If you want to use the Arduinos to just be able to use these modules I would suggest using an Arduino Leonardo because there you have the virtual serial interface on the USB and a hardware serial interface in addition. Software emulation (especially that crippled SoftwareSerial) will never work as reliable as a hardware serial interface and are very limited in the available baud rates.