Absolutely! You can insert someone's first name, last name, or full name into any message you send. The most useful places for this are generally Broadcasts and Workflows.
When creating your message, just click the { } icon. Select whether you want first name, last name, or full name.
Then type the rest of your message after the personalization.
If a person in your account doesn't have a name, it will be left blank. For example, the message above would say - "Hello ! We're excited to see you at church this Sunday!"