While zipit is almost all corrected, I just wanted to point:
NumPy rely on some CPython dll, that need to be compatible with the python executable for more information see Building NumPy for Cinema 4D on Windows.
However, that's being said, with c4dpy (in R20 it was not included in the regular c4d installation you need to download it from Downloads Page. Then normally you can just run the usual pip -install NumPy it should work (take care to check NumPy have a tendency to break quite often).
For SciPy you can also install it via pip, but Cinema 4D doesn't officially support any Qt porting, so while it's possible to make it work you may encounter some weird behavior (like closing SciPy windows may close Cinema 4D, SciPy windows can't be docked, etc)
For the moment there is no easy way to share these modules with your plugin, the easiest is probably to have a script that will run c4dpy and install the needed dependencies.
Hope this answers your question,