Non è una buona idea conservare i dati in questo modo.
La prima idea che mi è venuta in mente è:http://sqlfiddle.com/#!2/ 1dd77/4
SELECT b.*, GROUP_CONCAT(a.name SEPARATOR ':')
FROM table2 as b
LEFT JOIN table1 as a
on b.var = a.id
OR b.var regexp(CONCAT('^',a.id,':'))
OR b.var regexp(CONCAT(':',a.id,':'))
OR b.var regexp(CONCAT(':',a.id,'$'))
GROUP BY b.id
MODIFICA 1
Variante ordinata:http://sqlfiddle.com/#!2/1dd77/38
SELECT b.*, GROUP_CONCAT(a.name ORDER BY FIND_IN_SET(a.id, REPLACE(b.var,":",",")) SEPARATOR ':' )
FROM table2 as b
LEFT JOIN table1 as a
on b.var = a.id
OR b.var regexp(CONCAT('^',a.id,':'))
OR b.var regexp(CONCAT(':',a.id,':'))
OR b.var regexp(CONCAT(':',a.id,'$'))
GROUP BY b.id