id      name
4    Московский
7    Яблочная
10   Гагарина

id       fio        street_from    street_to
1      Арсен         4                  10
2      Коля          7                   4
3      Петя          4                   7
4      Степан       10                  7

id     fio        street_from    street_to   street_from_name       street_to_name
1      Арсен         4               10           Московский              Гагарина
2      Коля          7                4            Яблочная                 Московский
3      Петя          4                7            Московский              Яблочная
4      Степан       10               7            Гагарина                 Яблочная

SELECT users.*, streets.name AS street_name 
       FROM users 
       LEFT JOIN streets 
            ON users.street_from = streets.id AND users.street_to = streets.id

SELECT u.*, s1.name street_from, s2.name street_to
FROM users s, users s1, users s2
WHERE u.street_from = s1.id
  AND u.street_to = s2.id

SELECT `s`.*, `m1`.`name` `mkr_name0`, `m2`.`name` `mkr_name1`  
  FROM `school_passenger` AS `s` 
     LEFT JOIN `mkrs` AS `m1` 
         ON `s`.`mkr0`=`m1`.`id`
     LEFT JOIN `mkrs` AS `m2` 
         ON `s`.`mkr1`=`m2`.`id` 
  WHERE `s`.`basket`=0 
  ORDER BY `s`.`id` DESC