Formatting links to show a text different than the URL

I have a Thing_A with a field “related” that is a list of Thing_Bs. I want to output in one text field the name of each Thing_B in that field so that each name is a link to that Thing_B (better said, to a page followed by /unique_id_of_Thing_B). Pretty straight forward to output the links, but I can’t figure out how to change the text of those links to display the names of Thing_Bs instead of just the URL that the links point to. Any ideas?

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