gistfile1.txt

version: '2'
services:
  zookeeper:
    image: "confluentinc/cp-zookeeper:4.1.0"
    ports:
     - "2181:2181"
    expose:
     - "2181"
    environment:
     - ZOOKEEPER_CLIENT_PORT=2181
  kafka:
    image: "confluentinc/cp-kafka:4.1.0"
    hostname: kafka
    links:
     - zookeeper
    ports:
     - "9092:9092"
    expose:
     - "9092"
    environment:
     - KAFKA_ZOOKEEPER_CONNECT=localhost:2181
     - KAFKA_ADVERTISED_LISTENERS=PLAINTEXT://localhost:9092
     - KAFKA_OFFSETS_TOPIC_REPLICATION_FACTOR=1

You can refer to zookeeper using the hostname zookeeper when using docker-compose

How you connect to the instances from your machine depends on what you're using for docker.

docker-machine runs docker inside a VM so you have to use the VMs IP which you can find by running docker-machine env

IIRC docker for Mac allows you to use localhost, I'd assume docker for Windows can as well.