- array_values: documentation ( source)
- implode: documentation ( source)
- array_keys: documentation ( source)
<?php
$data = ['col1'=>'val1','col2'=>'val2','col3'=>'val3','companyId'=>1];
$query = "INSERT INTO `yourtable` ( ".implode(' , ', array_keys($data)).") VALUES ('".implode("' , '", array_values($data))."')";
echo $query;
?>