The Business Model Canvas is a great tool to imagine, prototype and explore a business idea, you can tweak it to fit a more socially driven or sustainable approach.
Triple Layered Business Model Canvas
You can complement The Business Model Canvas with an environmental and social layer. That's what Alexandre Joyce, Yves Pigneur and Raymond Paquin have created with their "Triple Layered Business Model Canvas".
You fill three canvases with three lenses following the original Business Model Canvas structure.
Thanks to Ramya Mahendran who made me aware that this canvas exists.
The Mission Model Canvas
A simpler approach is to use The Mission Model Canvas, which is an adapted version of the Business Model Canvas but for non-profit organisations.