How do I insert data from a table to a form

I have a form which I want to be auto-completed with data from a table I made. How can I achieve this?
This is my table:

    while($row  = mysqli_fetch_assoc($result))
    {
        echo "<tr>";
        echo "<td>" . $row['ID_Angajati'] . "</td>";
        echo "<td>" . $row['Nume'] . "</td>";
        echo "<td>" . $row['Prenume'] . "</td>";
        echo "<td>" . $row['CNP'] . "</td>";
        echo "<td>" . $row['Data_Nasterii'] . "</td>";
        echo "<td>" . $row['Sex'] . "</td>";
        echo "<td>" . $row['Numar_Telefon'] . "</td>";
        echo "<td>" . $row['Salariu'] . "</td>";
        echo "<td class = container_update ><button type = 'button' onclick = 'yes_js_modal();'>Update</a></td>";
        echo "<td class = container_delete ><a href = 'includes/delete.php?id=$row[ID_Angajati]'>&times;</a></td>";
        echo "</tr>";
    }
    echo "</table>";

And this is my form:

<form action="" method="POST">
<table align="center">

<tr>
<td>ID_Angajati:</td>
<td><input type = "text" name="ids" required></td>
</tr>

<tr>
<td>Nume:</td>
<td><input type = "text" name="nume" required></td>
</tr>

<tr>
<td>Prenume:</td>
<td><input type = "text" name="prenume" required></td>
</tr>

<tr>
<td>CNP:</td>
<td><input type = "text" name="cnp" required></td>
</tr>

<tr>
<td>Data Nasterii:</td>
<td><input type = "text" name="data" required></td>
</tr>

<tr>
<td>Sex:</td>
<td><input type = "text" name="sex" required></td>
</tr>

<tr>
<td>Numar Telefon:</td>
<td><input type = "text" name="nr_telf" required></td>
</tr>

<tr>
<td>Salariu:</td>
<td><input type = "text" name="sal" required></td>
</tr>

<tr>
<td colspan = "2" align = "center">
<input type="submit" id="button" name="submit" value="Update Details"></a>
</td>
</tr>

</table>
</form>

I want for instance ID_Angajati from my form to be auto-completed in the form with the value of one of my rows in the table. This will happen when I click on the “Update” button from the table.