I just typed "Procter & Gamble Boston, MA" into maps.google.com and it popped right up on screen. Google Maps
Did you try calling the phone number listed? The reviews seem split between retail customers and deliveries, sometime the reviews will have a phone number for truck drivers or directions.
You can use the free 7 or 10 day trial of Trucker Path GolPlan. Once you start using any paid version of Trucker Path it gives you truck directions, not just relay the direction for cars form Google Maps. Remember to cancel your free trial so you don't have to pay. BTW, you can get a free trial of the paid app version by giving them a different email address than any other email used for a free trial.
93 north or south to where you see signs for the “south boston bypass” aka the Boston haul road. // 93 South you get off for Mass ave: but keep to the left split of the exit and run it up to the light where you turn Left and cross over 93 and straight onto the haul road- //93 North take that Mass ave/ Frontage rd exit, bang a right at the light (swing wide) Onto the South Boston Bypass- That runs under most cross streets..... til you get to the intersection where you turn left on Richards st and that runs you straight into the back where the docks are.