WITH
TABLE_A AS (
SELECT 'groupA' COL1, 1000 COL2, 1010 COL3 FROM DUAL UNION ALL
SELECT 'groupB' COL1, 2000 COL2, 2020 COL3 FROM DUAL UNION ALL
SELECT 'groupC' COL1, 3000 COL2, 3030 COL3 FROM DUAL UNION ALL
SELECT 'groupD' COL1, 4000 COL2, 4040 COL3 FROM DUAL UNION ALL
SELECT 'groupE' COL1, 5000 COL2, 5050 COL3 FROM DUAL
),
TABLE_B AS (
SELECT 'aaa' COL1, 'bbb' COL2, 1001 COL3 FROM DUAL UNION ALL
SELECT 'ccc' COL1, 'ddd' COL2, 2019 COL3 FROM DUAL UNION ALL
SELECT 'eee' COL1, 'fff' COL2, 2013 COL3 FROM DUAL UNION ALL
SELECT 'ggg' COL1, 'hhh' COL2, 4050 COL3 FROM DUAL UNION ALL
SELECT 'iii' COL1, 'kkk' COL2, 2048 COL3 FROM DUAL
)

SELECT B.COL1, B.COL2
  FROM TABLE_A A
      ,TABLE_B B
 WHERE B.COL3 BETWEEN A.COL2 AND A.COL3
 ORDER BY 1,2

or

SELECT B.COL1, B.COL2
  FROM TABLE_B B
 WHERE EXISTS (
        SELECT 1
          FROM TABLE_A A
         WHERE B.COL3 BETWEEN A.COL2 AND A.COL3
        )
 ORDER BY 1,2