Like devitg post XLS, yes can read Excel direct. Only question is there always a header line ?
You could do it in Excel using a Concatenate command just copy in example column E to Autocad command line.
=CONCATENATE("(command ",CHAR(34),"TEXT",CHAR(34)," ",CHAR(34),A1,",",B1,CHAR(34)," ","2.5 0 ",CHAR(34),C1,CHAR(34),")")