Hi Mike,
You need to install an FTP client like Filezilla (https://filezilla-project.org/) on your computer desktop. This will give you remote access to all your sites' files and folders.
Then you setup access to your website through FTP (follow instructions here for Filezilla: https://www.youtube.com/watch?v=m4y5_PHqXtM). Once you have FTP set up you can access your site from your desktop computer, navigate to your plugins folder - which will follow the path /public_html/wp-content/plugins - and then delete your Wordfence folder from the plugins folder.
Good luck!