The SuiteQL query below returns all of the contacts associated with a specified company.
SELECT Company.ID AS Company, Company.EntityTitle AS CompanyName, CompanyContactRelationship.Contact, BUILTIN.DF( CompanyContactRelationship.Contact ) AS ContactName, CompanyContactRelationship.Role, BUILTIN.DF( CompanyContactRelationship.Role ) AS RoleName FROM Entity AS Company INNER JOIN CompanyContactRelationship ON ( CompanyContactRelationship.Company = Company.ID ) WHERE ( Company.ID = 2707 )