Yes, on a company profile there is a grid titled “Company Contacts” with a list of all employees of that company. Each of the constituents listed will also have an employer-employee relationship set up with the company.

Note that Company Contacts are employees, they are not necessarily a list of members that are part of a company's group memberships. Employees may or may not also be members. To see a list of members associated with a company's group membership, go to the Memberships tab on the Company Profile.