This is not possible through one single call in the REST API. This however is possible with a single call in the SOAP API.
In REST, for each envelope you'd have to do the following call: https://{{server}}/restapi/v2/accounts/{{accountId}}/envelopes/{{envelopeId}}/recipients
If you're looking to get back all of the data from an envelope (or list of envelopes), SOAP is going to make this call a lot easier for you.
If you have a detailed workflow and are going to be sending out a lot of envelopes, I advise to attempt to keep your API call count to a minimum. Since it is hard limited to 1000 calls per clock hour (10:00:00-10:59:59, 11:00:00-11:59:59, etc).