One way is to create a new field on the sale.order model that relates to the field on res.company you want to see.  As long as there is already a field on the sale.order model that links to res.company, this is possible.  The field that does this is company_id.

1. Settings --> Technical --> Database Structure --> Models

2. Find and open the sale.order model for editing.

3. Click Add an Item to add a new field, like this:

4. Add the new field to your XML, and see it in the Sale Order form view:

Thanks a lot @Ray it work, there is another way to do that? "out of curiosity"