Kevin,
I would say yes for older, mature Scouts. You might need to review the Guide to Safe Scouting and Climb On, and check with any HAT guidelines from your council but I would think Class 1 and Class 2 peak bagging are fine. Short stretches where there is scrambling but no exposure would be OK. But if you get into terrain that is technical then you are most likely not compliant with BSA guidelines unless folks have the proper training and certifications.
The challenge to keep the trek “safe” I think would be route finding. There are some mountains where a wrong turn can get you into more difficult Class 3/4 terrain. You might want to start with some cross country hiking, map and compass, and route finding. For example, the short hike to Blue Canyon Lake, near Sonora Pass is a great cross country map and compass exercise.
To cite examples, I would take Scouts up Sonora Peak and Stanislaus Peak off Highway 108 and up Leavitt Peak from the PCT trail. But I am not sure I would take Scouts up Leavitt Peak from Deadman Lake via the Northeast ridge (although I took my 16 year old daughter up that route). At one point, there was interest in our troop in going up Mt Conness in Yosemite. I had read trip reports that you could get to the top via Class 2 use trails. But in talking to the ranger, he said unless I knew the route (I did not) and could do it blind folded, he thought it was a bad idea because it was easy to lose the way and get into technical terrain. By searching Summit.org and some of the Sierra Club trip reports, you can find Class 1 and 2 ascents of California summits. Check out Gary Suttle’s book California County Summits for other ideas of places to go.
.
