OK, Clifford is using [itex]\zeta^1, \zeta^2[/itex] to refer to the worldsheet coordinates [itex]\sigma, \tau[/itex]. So the embedding functions are
[tex]X^\mu(\zeta^1, \zeta^2)[/tex]
and the worldsheet metric with "up" indices is
[tex]\gamma^{ab}(\zeta^1, \zeta^2) \frac{\partial}{\partial \zeta^a} \otimes \frac{\partial}{\partial \zeta^b}[/tex]
So, all you need to do is look at the infinitesimal variations of these expressions when you change coordinates
[tex]\zeta^a = \zeta^a(\xi^1, \xi^2)[/tex]