anyView.phtml

<?php
foreach ($this->myhelper as $rowObject) {
    echo $rowObject->getName();
}

HelperFactory.php

<?php
class HelperFactory implements FactoryInterface
{
    public function createService(ServiceLocatorInterface $sl)
    {
        $realSL = $sl->getServiceLocator();
        
        $repository = $realSL->get('Doctrine\ORM\EntityManager')->getRepository('My\Repository');
        
        return new MyHelper($repository);
    }
}

module.config.php

<?php
return [
    'view_helpers' => [
        'factories' => [
            'myhelper' => 'My\Namespace\HelperFactory'
        ]
    ]
];

MyHelper.php

<?php
class MyHelper extends AbstractHelper
{
    protected $repo;
    
    public function __construct(ObjectRepository $repo)
    {
        $this->repo = $repo;
    }
    
    public function __invoke($id)
    {
        return $this->repo->findBy([
            'id' => $id
        ]);
    }
}