Doing it without access to the bobbin stitches will be difficult. If the names are in a corner, could you remove the binding and the quilting stitches, so you could access the back of just that area?
You may need a brand new seam ripper with a very small part that slips under the tiniest stitches. Removing machine embroidered stitches is tricky to avoid cutting the fabric, but can be done. Go slow, be extremely careful, and if you get frustrated, stop and put aside for later. Ask me how I know this.....lol
I am glad that you got the quilt back even if "restoring" it is a pain.