Yes—if the QR code is dynamic.
A dynamic QR does not permanently encode the final destination into the visible QR pattern. Instead, it points to a managed redirect. You can change the destination behind that redirect while the printed QR stays exactly the same.
A static QR works differently. Its destination is encoded directly into the QR itself, so once it has been printed, the destination cannot be changed without creating and printing a new QR.
That means the first question is not “How do I edit this printed QR?” It is:
Is the printed QR static or dynamic?