One thing, you are out of focus most of the time.
But you are expect way too much from your camera. I HD Camcorder like the HVX would even come close to this image.
T2i should be kept at ISO 800 or lower, but if these were in focus it would be usable. There is no white light on the subject, unless you go up to a 5D or the 1D you are not going to get much better.
What lens are you using, for this type of stuff you really need fast lens, even faster than 2.8. Then for handheld you need a brace or IS, the problem with IS lens that are not faster then 2.8