MySQL 5.7

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CREATE TABLE table1 (`id` int, `table2_ids` varchar(9));
    
INSERT INTO table1 (`id`, `table2_ids`) VALUES
    (1, '2,3,4,5,6');
CREATE TABLE table2 (`id` int, `name` varchar(4));
    
INSERT INTO table2 (`id`, `name`) VALUES
    (2, 'Joe'),
    (3, 'John'),
    (4, 'Bill'),
    (5, 'Bob');
SELECT t2.* 
FROM table2 t2 INNER JOIN table1 t1
ON FIND_IN_SET(t2.id, t1.table2_ids)
WHERE t1.id = 1 


id
name


2
Joe

3
John

4
Bill

5
Bob