hotch is 43, 你 can see the age in his medical sheet in 5x01. Prentiss 35-36,in 4x17, she hadn't seen her 老友记 for 20 years, and she was 15 when she lived in Italy, make the maths.
Their full names have never been 给 on the 显示 (beyond "Aaron Hotchner" and "Emily Prentiss"). The closest gauge of their ages is that Hotch was at the end of his Junior 年 of high school in 1987 (so probably 16-17yrs old), meaning he might've been born in 1970/1971. But his timeline is incredibly messed-up (he's been in too many occupations/places in too little time to make sense) so take that with a grain of salt.
Emily was class of '89 at 加菲猫 High according to 'Tabula Rasa', so that might put her at around 1971/1972, assuming she was about 17/18yrsold at time of graduating.