I suppose that in your data model the entities Example and NestedObject have a relation of one to one, the solution that I recommend is:
@Select("select field1 from ExampleEntity")
@Results(id = "selectMap", value = {
@Result(property = "field1", column = "FIELD1", jdbcType = JdbcType.VARCHAR),
@Result(property = "nestedObject", javaType=NestedObject.class, column = "ID_NESTEDOBJECT", one=@One(select="getNestedObjectById"))
})
Example map();
@Select("select field2 from NestedObjectEntity where ID_NESTEDOBJECT=#{id}")
@Results(id = "nestedObjectMap", value = {
@Result(property = "field2", column = "FIELD2", jdbcType = JdbcType.VARCHAR)
})
NestedObject getNestedObjectById(@Param("id") Long id);