Use geom_text() to add labels on the chart or bars by specifying the labels and location of each label.
Syntax of geom_text - ggplot(data,mapping)+geom_text(mapping,label)
Ex: ggplot(mpg,aes(cyl,displ,fill = cyl))+geom_bar(stat="identity")+geom_text(aes(cyl,400,label=cyl))