How to join fixed row table against mapping table and reveal unmapped records
You need to create a multiplication first - every combination of Property + RoomType. In SQL Server we use a CROSS JOIN for that. Then you need to outer join to the junction table, and conditionally display Yes/No based on whether the junction table had a matching row. This should provide the output you want:

SELECT 
  p.Property, 
  RoomTypeID = t.Id, -- why isn't this just called RoomTypeID? 
  PropertyHasRoom = CASE
    WHEN pr.Property IS NOT NULL THEN 'Yes' 
    ELSE 'No' END -- or just END if you want NULL
FROM dbo.Properties AS p
CROSS JOIN dbo.RoomTypes AS t
LEFT OUTER JOIN dbo.PropertyRooms AS pr
ON p.Property = pr.Property
AND t.Id = pr.RoomTypeID
ORDER BY p.Property, t.Id;