Make sure you have the mod_rewrite apache module enabled, then:
RewriteEngine on
RewriteRule ^/profile/(.)/(.)$ /profile.php?id=$1 [L]
RewriteRule ^/store/(.)/(.)$ /store.php?id=$1 [L]
You will probably want to handle the reverse condition in PHP, especially with the trailing name part (since that is not in the original URL). If you want to handle it in mod_rewrite without the name, make sure that you do not end up in a double rewrite (depends on the order of your rules). Also, you can use the [L] (last) switch to make the rule the last one used (subsequent rules will be skipped if there is a match).
Also, it is possible to make a more generic rewrite rule, but you will need to carefully think about other URLs that might be affected.