Select column B.
Press F5 to display the Go To dialog.
Click Special...
Select Blanks, then click OK.
Note the address of the active cell in the selection (on the left hand side of the formula bar). It should be B3.
Enter the following formula and confirm it by pressing Ctrl+Enter to populate all selected cells.
=IFERROR(VLOOKUP(A3,$A$2:$B2,2,FALSE),"-")
or
=XLOOKUP(A3,$A$2:$A2,$B$2:$B2,"-")