[The following isn't an answer to your question of which specific companies to invest in with impact in mind; instead, it’s about general pros, cons, and strategies for impact investing. Hopefully that's somewhat useful, and hopefully someone else will also jump in to more directly answer your question.]
The EA researchers John Halstead and Hauke Hillebrandt looked into the pros and cons of impact investing. Here's an EA Forum post from Hillebrandt, which also links to the report they wrote together: Impact investing is only a good idea in specific circumstances.
Hillebrandt writes in that post: "We find that effective impact investing is very hard and, to maximize social impact, it is usually much more effective to donate." (Though note the "usually"; from memory, there were various caveats/nuances/uncertainties.)
And here's a talk from Halstead: Is impact investing impactful?
Other have also discussed the topic on the Forum, e.g. here. You might find other relevant posts by searching "impact investing" and/or looking at the Investing tag.