While using INF files was the normal method since Windows 2.x (or 1.x, even, but 1.x had very crude, static drivers) of installing new drivers,
it's possible to manually add them to system.ini (and win.ini) in Windows 3.x onwards
(Win95 uses registry but also supports the old system files, partly because of retaining compatibility to 3.1 drivers).
So if you know how these drivers are configured (as they are on another Windows installation), you can add them manually.
For example, these is are some parts that are altered by S3 graphics drivers (in Win 3.1):
display.drv=S3 864 1.41B5 800x600 256 colors SF
Edit: A few typos fixed.
Edit: Text corrected.
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