Yes, it can be done. CAREFULLY!!!!
First, take the grip panel you are going to remove them from. Place the panel on a thick soft folded towel, medallion down. Then using a proper sized flat nosed punch, push the medallion out of the grip panel. Then, you can install the madallions in a different set with the holes.
I have had some panels where the medallion was glued in, and broken the grip panel too. Be careful.
When I get a set of panels where the wood is already broken or chipped out, I just go ahead and break the wood around the medallion.