What LEGO set are these decorated tiles from?
These came from a number of sets, including a handy "Decorated Elements" set that covered most of the printed parts from the mid-90s space theme.

However, Recon Robot appears to be the only one that contains two of the 2x2 tiles and only one of the 2x1 tiles.

Instructions can be found in a number of places, including on Let's Build It Again.