Use "I" when it is the subject of the sentence and use "me" when it is the object of the sentence.
The correct statement is "Happy Birthday from Bob and me." The phrase "Bob and me" is the object of the preposition "from" so you should use the object pronoun "me."
Sometimes you can tell which personal pronoun is correct by removing the other person, in this case, Bob.
Here are more examples showing when to use "me":
Here are some examples showing when to use "I":
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