3840 x 2160 px means an aspect ratio of 16:9 - it is the reduced fraction of the pixel values:
3840:2160 -> (:20) -> 192:108 -> (:6) -> 32:18 -> (:2) -> 16:9
Since your images have an aspect ratio of 16:9 and 6" x 4" prints have an aspect ratio of 3:2, something will have to give:
- Either you live with the white space,
- or something needs to be cropped away (so 3240 x 2160 px),
- or the aspect ratio will be adapted, thus stretching your images on the y-axis,
- or you print in 16:9, e.g. 4.5" x 8"
If you choose to crop them, there is a wide variety on both free and non-free programs to do this: Photoshop, GIMP (free), or virtually any other image tool (IrfanView (free), XnView (free), Lightroom, Capture One, Darktable (free), DigiKam (free), RawTherapee (free), ...) can do this. I would rather crop something away myself, as you have control over what exactly gets cut away (e.g. perhaps the left side is filled with a concrete wall, but on the right side are people you would not want to get trimmed away.)
If you decide that in the future, you want to capture the images in 3:2 to reduce post-production work, then you can change the aspect ratio in your camera app's settings (at least Open Camera, Google Camera and FV-5 can do this).