I have a team schedule table that looks like this:
DBO.SCHEDULE
Game1_Time | Game1_Home_Team | Game1_Away_Team
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basically just do two joins one for the home name and one for the away name.
SELECT
s.Game1_Time,
t.Team_Name as 'Home Team',
t1.Team_Name as 'Away Team'
FROM `SCHEDULE` s
JOIN `TEAM` t on t.Team_Number = s.Game1_Home_Team
JOIN `TEAM` t1 on t1.Team_Number = s.Game1_Away_Team
i added backticks because schedule is a keyword so just to not mess anything up you should use backtics on the tablename
DEMO