It depends if they are flagged by the game as essential. Essential characters are usually quest related and stay dead once they're killed (so be careful who you kill). Non-essential NPCs should respawn. In Oblivion, characters could become kill-able once they had completed their part in one of your quests.
You mean essential characters are un-killable, right? Non-essential NPC's are killable at anytime? usually essential NPC's don't die, they just tale a knee and then pop back up. But killable NPC's stay dead, even if I didn't kill them?