Can Venser's emblem target a creature a creature with hexproof or shroud
No. The emblem makes a triggered ability that fires each time you cast a spell, you can TARGET something. If they are shrouded or hexproof you can't target them. Also, {venser, the sojourner} for reference
RESOLVED
{Venser, the Sojourner}
"Target" and hex proof/shroud don't like each other
You would still need some sort of way to break through their hex proof/shroud abilities
Answer: no.