Formula Fields - How to get the Text from a Lookup Field to be saved

Formula Fields - How to get the Text from a Lookup Field to be saved

I am trying to use a formula field to put together the values of some of the fields on my form:

Example:  Accounts + "-" + "Project" + "Products"

On my form the Accounts and Products fields are Lookup Fields - Links to other forms that display the Account Name and Product PN.

When this field executes I am left with the Record ID for Accounts and Products captured in this field.  What I want is the Name of the Account and the PN of the Product.

How do I get the text values of these fields to be saved in my formula field instead of the associated record ID?