I'm interested in knowing how to lookup all of the domain names associated with a single IP.

Let's say I have abc.com, def.com, ghi.com, and jkl.com associated with some IP address: 0.0.0.1

How can I do something like:
>command 0.0.0.1

and have it return:
abc.com
def.com
ghi.com
jkl.com

Is this possible??

Unless the server is running rDNS for every domain on that IP address (exceedingly unlikely), you're going to have a very tough time of it. This is due to the fact that virtual hosted domains are handled by Apache, and don't have much outside relation to the IP address used to connect to them. There's no way to query the Apache config (or at least there shouldn't be on any respectable webserver), which is where that information would be found.

For example, if I run rDNS queries against my personal server (hosting ~10 domains on 3 IP addresses), I only receive one entry back, because that's how I've configured it.

If I'm off-track, someone please correct me, but this has been asked somewhat often in the past few weeks.

There should be only one PTR record for an IP address; returning multiple host names can be problematic.

Answer to question - you can't.