As FireMark mentioned, you have coils on plugs.
I recently replaced my plugs, ignition coils and ignition wires on my 2.4L Santa Fe. Although my motor is 4 cylinder vs your 6 cylinder, I did a fair amount of research on the topic of aftermarket coils and wires and as you'll see throughout these forums the general recommendation is to stick with genuine Hyundai parts when replacing these items.
As you are in the USA, you may wish to take a look at Four Green Auto that deals exclusively in genuine Hyundai parts, as does Jim Ellis that FireMark posted.
I know for me and my 4 cylinder coils and wire set the price from Four Green was less expensive than any "parts store" with after market coils and wires. They were reasonabley priced and make replacing the 2 coils (3 for you) and the wire set a practical thing to do seeing they had never been replaced before. I'd sooner replace them before they fail and leave you stranded on the side of the road...but that's just me.
If you're going to do it yourself I think you'll find that the price of the 6 NGK plugs, 3 genuine Hyundai coils and the associated wire set will still cost you far less than what the dealership wants for half that work. Good luck!