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SOQL to show which Profiles and/or Roles have access to an App

I'm trying to write a SOQL query with appropriate joins, to see what Profile has access to what Custom Apps and Console. I see that in Workbench and Developer Console I can construct and execute a SOQL, but I'm very new to SOQL. I don't see a field/column in Profile object that shows the App ID or any key to the list of Apps. but this post (https://success.salesforce.com/answers?id=90630000000D9noAAC) suggests that this can be done. Can anyone point me to how to construct such SOQL? thanks.