You can create a user function to loop the values through the VLOOKUP function:
Function VLOOKUPARRAY(ByVal lookup_val As Range, ByVal table_array As Range, ByVal col_index_num As Integer, Optional ByVal range_lookup As Integer = 0) As String
Dim s As String
Dim a1() As String
Dim a2() As Variant
Dim i As Integer
'Recalculate whenever a calculation happens on the worksheet
Application.Volatile
'Get the lookup value from the cell
s = lookup_val.Value
'Split into array
a1 = Split(s, ",")
'Set output array to input array dimensions
ReDim a2(0 To UBound(a1))
'Loop through input array and set output array elements to lookup results using application lookup function.
For i = 0 To UBound(a1)
a2(i) = Application.WorksheetFunction.VLookup(Trim(a1(i)), table_array, col_index_num, range_lookup)
Next i
'Loop through output array and load values into a string
s = ""
For i = 0 To UBound(a2)
s = s & a2(i) & ", "
Next i
'Knock the final ", " off the end of the string
s = Left(s, Len(s) - Len(", "))
'Set function output to string value.
VLOOKUPARRAY = s
End Function
That was quick and dirty, but it gave me the desired output. Adjust as needed.