Counselors are licensed psychologists but not medical doctors, and in most parts of the U.S. they are not allowed to prescribe medication. Only Idaho, Illinois, Iowa, Louisiana, and New Mexico allow counselors to prescribe medication, and counselors in these states must complete additional psychopharmacology training and certification.
In the rest of the U.S., only a medical doctor can prescribe medication. Psychiatrists are medical doctors and can prescribe medication, but they typically do not provide talk therapy or counseling services.