Creating a embedded view of projects on the company table

I suggest that you fact make a Report Link of of Project Members on your companies table by looking up the field probably called [Related Project] in Contacts down to the Project members table and called it what it is which is [Record ID# of Project]

Then I would use a summary report of unique Projects as the report to use on Companies for the Report Link field.  That is because the Projects will be repeated on the Project Members table and presumably you just want to see each Project once.