1. Using a single query
2. Using a wrapper class

public class AccountContactWrapperController { 

	public List<Account> accounts{get;set;}
	public List<ACWrapper> ACWrappers{get;set;}

	public AccountContactWrapperController(){
		this.ACWrappers = new List<ACWrapper>();
		this.accounts = new List<Account>();

		//Get Accounts & Related Contacts in 1 query
		List<Account> accs = [Select Id, Name, (Select Id, FirstName, LastName From Contacts) From Account Limit 1];
		this.accounts = accs;

		//Get Accounts & Contacts in separate queries for Wrapper
		List<Account> accsForWrapper = [Select Id, Name From Account Limit 1];
		List<Contact> consForWrapper;
		Account acc;
		if(accsForWrapper != null && !accsForWrapper.isEmpty()){
			acc = accsForWrapper.get(0);
			consForWrapper = [Select Id, FirstName, LastName From Contact Where AccountId =:acc.Id];
		}
		if(consForWrapper != null){
			ACWrapper wrapper = new ACWrapper(acc, consForWrapper);
			this.ACWrappers.add(wrapper);
		}
	}

	public class ACWrapper{
		public Account account{get;set;}
		public List<Contact> contacts{get;set;}

		public ACWrapper(Account acc, List<Contact> cons){
			account = acc;
			contacts = cons;
		}
	}

}

<apex:page controller="AccountContactWrapperController" >
    <apex:form >

        <!--Display Account & Contact info from 1 Query-->
        <apex:pageBlock title="Info From Query">
            <apex:pageBlockTable value="{!accounts}" var="a">
                <apex:Column value="{!a.Name}" />
                <apex:Column headerValue="Contact Names">
                    <apex:repeat value="{!a.Contacts}" var="c">
                        {!c.FirstName} {!c.LastName} <br />
                    </apex:repeat>
                </apex:Column>
            </apex:pageBlockTable>
        </apex:pageBlock>

        <!--Display Account & Contact info from 1 Wrapper class-->
        <apex:pageBlock title="Info From Wrapper class">
            <apex:pageblocktable value="{!ACWrappers}" var="w">
                <apex:Column value="{!w.account.Name}" />
                <apex:column headervalue="Contact Names">
                    <apex:repeat value="{!w.contacts}" var="c">
                        {!c.FirstName} {!c.LastName} <br/>
                    </apex:repeat>
                </apex:column>
            </apex:pageblocktable>
        </apex:pageBlock>
    </apex:form>
</apex:page>