Hi Ahtesham,
Yes, it is possible to do it if relationship between parent record and its children record is 1:N.
As for your example, due to quote <-> products(quote lines) is 1:N, so you can retrieve associated product records of a quote by $expand query.
Steps:
1. Find relationship name in Customization:

2. Excute web api with expression:
$expand=quote_details($select=xx1,xx2)
Result:
some fields of parent quote:

associated products:

execute web api directly in address bar:

javascript code which is generated by CRMRestBuilder:
var req = new XMLHttpRequest();
req.open("GET", Xrm.Page.context.getClientUrl() "/api/data/v9.1/quotes(5db5d46b-a577-ea11-a811-000d3af421db)?$select=name,_pricelevelid_value,quoteid,quotenumber,_transactioncurrencyid_value&$expand=quote_details($select=extendedamount,priceperunit,productname,quantity)", true);
req.setRequestHeader("OData-MaxVersion", "4.0");
req.setRequestHeader("OData-Version", "4.0");
req.setRequestHeader("Accept", "application/json");
req.setRequestHeader("Content-Type", "application/json; charset=utf-8");
req.setRequestHeader("Prefer", "odata.include-annotations=\"*\"");
req.onreadystatechange = function() {
if (this.readyState === 4) {
req.onreadystatechange = null;
if (this.status === 200) {
var result = JSON.parse(this.response);
var name = result["name"];
var _pricelevelid_value = result["_pricelevelid_value"];
var _pricelevelid_value_formatted = result["_pricelevelid_value@OData.Community.Display.V1.FormattedValue"];
var _pricelevelid_value_lookuplogicalname = result["_pricelevelid_value@Microsoft.Dynamics.CRM.lookuplogicalname"];
var quoteid = result["quoteid"];
var quotenumber = result["quotenumber"];
var _transactioncurrencyid_value = result["_transactioncurrencyid_value"];
var _transactioncurrencyid_value_formatted = result["_transactioncurrencyid_value@OData.Community.Display.V1.FormattedValue"];
var _transactioncurrencyid_value_lookuplogicalname = result["_transactioncurrencyid_value@Microsoft.Dynamics.CRM.lookuplogicalname"];
for (var a = 0; a < result.quote_details.length; a ) {
var quote_details_extendedamount = result.quote_details[a]["extendedamount"];
var quote_details_extendedamount_formatted = result.quote_details[a]["extendedamount@OData.Community.Display.V1.FormattedValue"];
var quote_details_priceperunit = result.quote_details[a]["priceperunit"];
var quote_details_priceperunit_formatted = result.quote_details[a]["priceperunit@OData.Community.Display.V1.FormattedValue"];
var quote_details_productname = result.quote_details[a]["productname"];
var quote_details_quantity = result.quote_details[a]["quantity"];
var quote_details_quantity_formatted = result.quote_details[a]["quantity@OData.Community.Display.V1.FormattedValue"];
}
} else {
Xrm.Utility.alertDialog(this.statusText);
}
}
};
req.send();

Regards,
Clofly