I am inferring your level of legal experience from the way you wrote this. (which is to say, quite little). And as you say in comments, you are in Colombia.
Nope, cannot do it.
It is a complete lose to even try, because of the hoops and hurdles in your way, many of which are dead-ends.
When an employee creates "work product" as part of their employ, that is property of the company and intellectual property rights go to the company.
You can claim that property right only if you can claim that you were not an employee at all, but some sort of creative contractor (where's your contract, contractor?), and further, that the nonexistent "contract" conferred the IP rights of your paid work to yourself and not the payer. See where that's a bit of an uphill proof?
This will play out in court, one of two ways: #1. You go to court and ask the court to rule that the intellectual property belongs to you, in advance, before you start using the IP with other companies. Or, #2, you just go ahead and use it anyway, AND the first company gets wind of this, AND the first company decides they want to sue.
In the first case, you are choosing the fight in a low-impact, low-risk way: worst case the judge says "no" and you pay the old company to license the material, or walk away and create new material.
In the second case, it's less likely to happen, but if it does happen, it is devastating. You could find yourself being attacked from both sides (because company 2 would feel this is NOT their fault and you misled them). Company 1 would sue for all company 2's profits, and both companies would agree you should pay it.
Is it better to fight, or rewrite?
And here's how I definitively get to a "nope".
I don't know how expensive litigation is in Colombia. But I can tell you, it's a gigantic emotional energy sink also. It devastates your productivity as a creator. One person wrote amazing tech manuals (site gone), until this happened and the creative spigot just stopped. See what I mean about "distraction"?
The employer owns your work product; they do not own your mind. You can re-create the work from scratch. Turn heel and walk away from the original work and make a new and better one.
And this time, get it in writing lol....