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Assuming that there are no duplicate emails in your Excel spreadsheet, you can simply update the First Name and Last Name columns on your sheet and upload them again along with the email address. Marketo associates all changes based on email address (rather than ID.)
Also, I'd like to give a minor plug for Kutools for Excel, which is awesome at cleaning up cases, splitting out names all in one column into two, etc., when working with Excel sheets.
Just make sure those fields aren't field blocked.