This command lists the EC2 instance id and the tag name using query.

aws ec2 describe-instances \
--query 'Reservations[].Instances[].[InstanceId,Tags[?Key==Name]|[0].Value]' \
--profile tfc \
--region us-east-2 \
--output text

Output:

i-xxxxxxxxxxxxxxxxx     server-one
i-xxxxxxxxxxxxxxxxx     server-two
i-xxxxxxxxxxxxxxxxx     server-three
[0].Value insures output is one instance record per line.