If you just want to show them in EditForm you can use something like this to read the values:
var res = spjs.utility.getItemByID({"listName":_spPageContextInfo.pageListId,"id":GetUrlKeyValue("ID"),"viewFields":["RelatedItems"]});
alert(res.RelatedItems);
This will output something like this (two related items):
[{"ItemId":31,"WebId":null,"ListId":null},{"ItemId":45,"WebId":"5b315066-48ba-42b1-9ef1-1387b67dcd9b","ListId":"5f82a17a-d27b-4f6d-8c2b-fa201e40b40b"}]
This must then be converted into a proper “link”, but if it is internally in one list you can use the “ItemId” directly to create the link using “/Site/List/DispForm.aspx?ID=XYZ”.
PS:If the link is internal in the list, the ListId and WebId parameter is null.
Alexander