ScottC's method will work well. Here is another.

An alternative way to delete items from Programs:
1. Right click the Start menu
2. Choose "Explore"
3. Double-click "Programs" in either pane
4. Double-click "Startup" in either pane

Here, you can see and delete shortcuts from Windows Explorer.

If you never intended for these shortcuts to appear or they reappear after you delete them, consider running spyware removal and virus cleaning software.