SQL Query; Admin Log System; Foreign Keys; Retriving multiple rows form different tables at once
The question is all over the place but I think this is what you are looking for 

select a.name, u.name, b.note, b.date     
  from table_B as B 
  join table_A as u 
        on u.ID = B.ID 
  join table_A as a 
        on a.ID = B.admin_id  
 where B.ID = @userID


you can create a line with
select a.name + " took action on " + u.name  ...