I know that I can add expires header using mod_expires. However, what can I do if the Apache server doesn't have mod_expires installed and I don't want to route the access to the files through a scripting language like PHP?
You could use mod_header to set the header field manually:
Header set Expires "..."
But since Expires requires an absolute time, use Cache-Control’s max-age parameter for times relative to the access time:
Header merge Cache-Control max-age=3600