Parent post type

You will need Custom Code or the paid Toolset Views Plugin.

Types stores the ID of the Parent Post in a hidden custom field with key _wpcf_belongs_{your-parent-post-type-slug}_id

So if you build a Custom Query to get the Child Posts, you can pass this meta_key, and as a value, it should have the Parent Post.
This Query results can then be output in the Single Post Template you use.

We also have a great DOC for this:
https://wp-types.com/documentation/customizing-sites-using-php/displaying-child-posts/