There's no built-in tool in Windows to do what you're looking for, per se.
You could crib something together by turning on the "Process Tracking" success auditing and then mining the event log data. You're going to get a LOT of data to wade through, but what you're looking for would be in there.
If you have experience parsing logs you could probably work out a solution to export and parse the event logs from the various computers to get what you're looking for. If you don't have such experience you're going to find this a challenging and daunting task.
The "C:\WINDOWS\PreFetch" directory will show you a lot of names of programs users are running, but it's not as exacting as the event log / auditing method. I don't recall the mechanism by which it gets cleaned out, but records don't linger in there permanently. (some more information about the "Prefetch" behavior is available here: http://windowshelp.microsoft.com/Windows/en-US/help/0ec5b471-ed65-43c4-a59b-c1fd975c42621033.mspx)