From my research, I have discovered that, yes, there is a way to do this. There is a command line tool called "Sleepwatch".
This daemon monitors sleep, wakeup and idleness of a Mac. It can be used to execute a Unix command when the Mac or the display of the Mac goes to sleep mode or wakes up, after a given time without user interaction or when the user resumes activity after a break or when the power supply of a Mac notebook is attached or detached. It also can send the Mac to sleep mode or retrieve the time since last user activity.
In your case, you can use "SleepWatch" to execute a shell script which will launch your applications. For example, the shell script might look something like the following. I just wrote this script as a simple example. You can even make it clickable by changing the file extension from ".sh" to ".command":
#!/usr/bin/env bash
open /Applications/Mail.app /Applications/Firefox.app
I am not exactly sure how you would set up such a script to work with "SleepWatch", being as I didn't look into it too deeply, but it probably isn't too difficult to figure out. In fact, I just looked at the ReadMe, and it pretty much tells you what to do, assuming you understand it. :)
I hope this points you in the right direction. I bet something like this can also be done with Automator, and maybe even with AppleScript -- a.k.a. the Script Editor in the Utilities" folder -- but again, I personally wouldn't know how to do it.
I hope the above helps. Let me know. :)