while IFS='=' read -r name value ; do
# Print line if found variable
sed -n '/${'"${name}"'}/p' docker-compose.yml
# Replace variable with value.
sed -i 's|${'"${name}"'}|'"${value}"'|' docker-compose.yml
done < <(env)
Note: Variable name or value should not contain "|", because it is used as a delimiter.