Check IBM's web site -- you'll find an entire library of C/C++ manuals available. You can execute C programs in CICS, or through Unix System Services. No simulator or emulator needed, although you can run into a few issues with file names and code pages.
how the programs be invoked on the mainframe panel
If you are referring to TSO / ISPF here, most C / C++ programs running on the mainframe are not run under TSO / ISPF.