Neither the entire address book or single address book entries can be uploaded from an iPhone:
http://lexusbluetooth.letstalk.com/brands/...mp;passedPaIds=You can check the above website for the compatibility of your Samsung phone.
Some people have acquired a compatible Bluetooth phone for the sole purpose of uploading the address books they have on their incompatible phones. Older new or used compatible Bluetooth phones can often be obtained on the cheap from eBay -- be sure that you get an unlocked one or, since you are apparently an ATT customer, one that is locked to ATT. If you go this route, you might want to get a phone that you can import your address book to ... i.e. one you can sync to phone software on a personal computer so you won't have to enter your address book manually. If your personal computer doesn't have Bluetooth, USB Bluetooth dongles are cheap - I paid about $10 for one about a year ago.