How to transform bash output to bash table

My output after running a program in bash looks like this (two rows, : limiter, four columns of data)

#003:BMW:11:36

#004:Audi:2:35

I would like to convert that to a bash table like this | Number | Car | ID | Cost | |:---- |:------| -----| -----| | #003 | BMW | 11 | 36 | #004 | Audi | 2 | 35 Is it possible to use sed/awk for this? My data doesn't come from a file.