as for cameras and cellphones the reason you can transfer back and forth without software is due to the fact that the devices only acts like flash memory sticks. your computer already knows how to pull data off these devices through windows so no software is required. when you connect the devices windows automatically can install a driver to access them. however, some syncing services on cellphones have software to interface with them.
scanners and printers need a set of drivers to tell the computer exactly what the individual specifications are for the printer. this includes such things as colors available, dpi, minimum borders, paper sizes, etc. it also tells the computer how to communicate with the device. windows doesn't always have the driver in its library so it is included on a disk. the extra "software" isnt required to function and might only include a few things like ink level, ink ordering, printing software, etc.
as for webcams i'm not positive but i believe its similar to other devices in that it tells the computer how to communicate with the device as well as specifications.