How to insert records per company without using cursor

declare @company table(
    companyid int
)

insert into @company(companyid)
(select distinct companyid from ABC)

declare @cmpny int
while exists (select top 1 * from @company)
begin
    set @cmpny = (select top 1 companyid from @company)

    insert into XYZ
    values('Annual', @cmpny)

    delete from @company where companyid = @cmpny
end

declare @ABC table(
    id int identity(1,1),
    companyid int
)
insert into @ABC values(1);
insert into @ABC values(3);
insert into @ABC values(5);
insert into @ABC values(5);
insert into @ABC values(10);

declare @XYZ table(
    period varchar(50),
    companyid int
)

insert into @XYZ
(period, companyid)
select distinct 
'Annual', companyid
from @ABC;

select * from @ABC;
select * from @XYZ;