I'm pretty sure there isn't a way-explicitly-offered-by-the-game to unset and reinvest health, stamina, and/or magicka advancements, but I'm also curious about exploits, console commands, and/or mods.
The SkyTweak mod allows editing of the player character attributes, including health, stamina, and magicka, and also many other game variables.
There's no command to reset all your points, but you can de-spec and re-spec specific skills by using the console commands.
player.removeperk XXXXX removed the specific perk
Player.Addperk XXXXX adds specific perks
All the commands and perk codes are here http://www.carlsguides.com/walkthroughs/skyrim/resetperkscheat.php
There are also mods such as http://www.nexusmods.com/skyrim/mods/16471/? which will give you in-game abilities to respec your perks.
Bring up character customization menu. Magicka, Stamina, and Health will be spread evenly on using this depending on your character's level. It will remove any custom point distributions. Note: Using TGM command before entering the menu will retain your original levels. Will only modify your attributes/skills/points/etc. if you change the race, sex, or select a preset from the list. Modifying cosmetic things like skin color/warpaint/hair/face shape/etc. will leave your points.
Evenly distributes attributes and buffers a level up.
Using TGM beforehand prevents a level-up from being buffered. Changing race has the same effect. Changing sex has the same effect. Changing name has the same effect.
Bottom line: Use if the respec desired is to evenly distribute attributes.