Use Drupal Views to select Organisation and display contacts with a particular relationship to Organisation
To create a Drupal relationship in a View for contacts A - B or B - A you need to add 2x Drupal relationship.

In the case of starting with the Org assuming it as at the B end of the relationship, first you choose the option that says 


CiviCRM Contacts: CiviCRM Relationship (starting from Contact B)


and configure that with the relevant Relationship Type

Then you choose


CiviCRM Relationships: Contact ID A


and use the relationship you created above to Join contact A via the relationship to contact B.

Then as Laryn says, select a field for DisplayName and tell it to use the second of these relationships (probably only one that shows in that context) and bingo!