You can upgrade Evaluation edition of SQL Server 2008 only if it doesn't expired..
Since yours expired, you have no option other than Un-install and re-install approach.
And steps you need to do here:
1. Take a backup of your user databases.
2. Take a backup of your Agent jobs and maintenance plans
3. Take a backup of your logins using the script here:
http://support.microsoft.com/kb/9189924. Uninstall evaluation edition
5. Install your licensed version of SQL Server 2008.
6. Apply SP1 for SQL Server 2008.
7. Run the Logins script taken in step no. 3
8. Restore user databases.
9. Create Agent jobs and Maintenance plans.