Contacts can text "stop" to your number to unsubscribe from your messages. Once they've unsubscribed, there's no way to manually unsubscribe them.
If they want to re-join your list, how they opt back in will depend on your number type:
For toll-free numbers, the contact can text "unstop" or "start" to your number.
For local numbers (10DLC), the contact will need to text a keyword that you've set up to your number.
But if you unsubscribe a contact manually from the Contacts tab, you can resubscribe them in a few steps:
Go to your Contacts tab.
2. Select the Unsubscribed tab at the top of the page.
3. Now, check the box next to the contact you want to opt back in and click on the resubscribe button (person with a plus mark icon). Alternately, you can select the three dots on the far right of the contact and choose Resubscribe.