Multiple Output From Lookup

Writing a formule to lookup for a value and return more than one result,

Example

Col A has Names, Col B has ID number, in Col C I need the output to look for names in col A and return the ID from Col B, I can use a VLOOKUP for this but the problem when col A has a name repeating more that once, In this serinario the lookup picks the first name and gives the first ID

Here is how I want the out put to be as:

Names ID Output
John 1 1,3,6
Mathew 2 2
John 3 1,3,6
Mike 4 4
Bob 5 5
John 6 1,3,6

The output should have the ID of all same names