Hey Andrew, Andy is right about ‘tribe_meta_event_cats’ not being able to print strings without links, but you don’t need to modify core.
1) Add this to your theme’s functions.php: https://gist.github.com/3232646
2) Create (if you don’t have it already) a ‘events’ folder in your theme
3) Copy wp-content/plugins/the-events-calendar/views/single.php to that ‘events’ folder in your theme.
4) Edit that single.php in your_theme/events/ and replace tribe_meta_event_cats(); with my_tribe_meta_event_cats();
5) Enjoy 🙂
6) Let me know if that works as intended.