Du kan slutte dig til tabellerne og bruge array_agg
at kombinere værdierne adskilt af et komma
SELECT a.id, array_agg(b.name) assignments
FROM Project a
INNER JOIN assignment b
ON a.id = b.project_ID
GROUP BY a.id
SQLFiddle Demo
eller ved at bruge STRING_AGG
SELECT a.id, STRING_AGG(b.name, ', ' ORDER BY b.name) assignments
FROM Project a
INNER JOIN assignment b
ON a.id = b.project_ID
GROUP BY a.id