Hi Greg
Save the Excel doc in ASCII (dunno which one is the best format)
Maya can import series of numeric data as MOVE format.
In the options menu of the ImportFile select MOVE.
You must define which attributes you want to fill with the Datas. Each collumn in your text file will be assigned to the specified attributes. Simply select your object, pick the Attributess in ChannelBox and click on the FromChannelBox button in the OptionsMenu.
You can use this method, for example, to import Camera Motion Control datas into Maya.
Attila