The progenitors of Type Ibc supernovae (SNe Ibc) have been believed to be massive Wolf-Rayet (WR) stars, formed either through stellar wind mass loss or Roche-lobe outflow in a binary system. But observations indicate that ordinary SNe Ibc have relatively low ejecta masses (~2 Msun), which is not compatible with the WR star scenario for SN Ibc progenitors. On the other hand, helium stars in binary systems which can be produced via mass transfer are also suggested as a possible candidate for SN Ibc progenitors. Binary star evolution models predict that SN Ibc progenitors having final masses of 3-7 Msun can be produced, but their observational properties are not well understood. In this study, we present the parameter study on the observational constraints of helium stars of 3-5 Msun in binary systems using evolutionary models and the atmospheric radiative transfer code CMFGEN. We present the predicted magnitudes and spectra of helium stars in optical bands for different wind velocity profiles and mass loss rates. We also present those observables of the progenitor binary system considering O-type companion stars. Based on the results, we discuss the expected observational properties of SN Ibc progenitors in binary systems. In particular, we discuss the constraints on the progenitor of the SN Ib iPTF13bvn of which progenitor candidate has been identified for the first time in pre-explosion images among SNe Ibc.