You could perform the following
Select s1.Id, s1.Name, s2.Alias
from Set1 s1, Set2 s2
where s1.Id= s2.Id
order by s1.Id, s2.Alias
Or choose "Left Union" depending on whether you want to see the "C" row.
Now you will get:
Id Name Alias
1 A F
2 B G
2 B H
I don't know of a way to get the multiple "Set2" rows into a single row