Check this code:
{%- for row in doc.sales_team -%}
{{ row.sales_person }}<br>
{% set cc = frappe.get_doc("Sales Person", row.sales_person) %}
EMP ID: {{cc.employee or ''}} <br>
{%- endfor -%}
Some more example:
{% set u = frappe.get_doc("Company", doc.company) %}
{{ u.country or '' }}
{{u.address}}