SELECT
roles.principal_id AS RolePrincipalID,
roles.name AS RolePrincipalName,
database_role_members.member_principal_id AS MemberPrincipalID,
members.name AS MemberPrincipalName
FROM
sys.database_role_members AS database_role_members
JOIN
sys.database_principals AS roles
ON
database_role_members.role_principal_id = roles.principal_id
JOIN
sys.database_principals AS members
ON
database_role_members.member_principal_id = members.principal_id;