Is there a way to map a historical panel for a track in OSM like the one in these pictures
I guess you're asking about mapping these stone panels as individual features, not about indicating whether the way / route has such markings. (For the latter see the article on hiking and the optional trailblazed tag for ways.)
The stones themselves are probably best represented as point
features (nodes) besides the way axis.
These stones seem to serve the purpose of way marks. (I.e., they indicate that the track / trail / footway goes along them and probably in what direction it continues.) From what I can find on the wiki, it's unclear to me how to tag them.
It seems like one possibility (the one discoverable from the article on
hiking) would be tourism=information
combined with information=trail_blaze or
with information=route_marker.
Another possibility (maybe even in combination with the above) would be marker=stone. It though seems like that should be accompanied with a utility=* tag to indicate the purpose or topic (the "activity" as the wiki calls it) of the marker and there doesn't seem to be an established or documented utility value for way marks.
I suppose the way is still there and still following the route
marked by these stones, so I don't think the stones need to be
designated as "historic" yet.
For the engraved text you may use inscription=*.
If there were some distance information on the stones (which doesn't seem to be the case on your two pictures) they could also be a historic=milestone or a highway=milestone. They also don't seem to mark any past or present boundaries, thus they're also no historic=boundary stone nor a boundary=marker.
Kind regards,
Raphael (das-g)