What you do is return the relevant field(s) from Dataset A on every row with the fields from Dataset B and then group on the Dataset A field. For example:
SELECT DatasetA.Id, DatasetB.Code, DatasetB_Description, DatasetB.Value
FROM DatasetA
INNER JOIN DatasetB ON DatasetA.Id = DatasetB.DatasetA_Id
On your tablix, create a group that changes on Id
and put the DatasetB fields in the Detail row of the tablix. Now each time DatasetA.Id changes, it will trigger a new group header and display all the DatasetB rows that relate to that DatasetA Id under it.