Custom Objects loaded with Incidents

Summary

We are having trouble loading incidents with existing custom objects in a workflow

Content

We have a workflow that creates an incident along with a custom object and relates them so we can view our custom object fields and our incident fields in one work space. This works fine and we can even search for them by putting in the incident reference number when opening our custom object. 

We are wanting to know if its possible to open both the incident and the custom object just by double clicking like you would on a normal incident, instead of opening the custom object and manually loading the incident.