The law and the practical application of the same by USCIS are different. Although doing things on behalf of your own company without receiving cash compensation could still be considered work requiring work authorization, USCIS is most concerned about receiving cash compensation - this is a line you cannot cross. But as noted above, this analysis is nuanced so I would recommend that you consult with an attorney before taking any steps because, for example, there are steps you could take that would allow you to work for your company now without leaving your current job.