I've got multiple domains hosted under one account and for one of those domains my client has got a different web design company doing their website.
How do I set up access to both the FTP and also the DH control panel for them that is restricted to that one domain?
just create an user (FTP) for each domain and them mail the login information for each company
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will that just give FTP access to the domain, but not to any of the control panel?
If so, is there a way to get restricted access to the control panel?
Yes, you can create a new WEBID (panel log-in) and give that WEBID certain panel 'privileges', see the wiki article linked below for more information.
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loverly jubberly, that looks just the ticket