How to typeset pictures like in picture?

If you're only looking for how to position the images and text you could try a tikz matrix:

documentclass{article}


usepackage{graphicx}
graphicspath{ {./images/} }

usepackage{tikz}
usetikzlibrary{matrix}


begin{document}


section{some caption}

some text

begin{tikzpicture}
    matrix[column sep=4cm, row sep=-1.5cm,
            nodes={align=left}]{
        node {includegraphics{qr.png}  Text A}; & 
            & node {includegraphics{qr.png}  Text B};
        node {includegraphics{qr.png}  Text C}; & 
            & node {includegraphics{qr.png}  Text D};
        node {includegraphics{qr.png}  Text E}; & 
            & node {includegraphics{qr.png}  Text F};
    };
end{tikzpicture}


end{document}

Note though that to be able to place the text on a new line with the image inside the node it must be aligned left, so you wouldn't get centred text with this method. But in any case, the output looks something like this: