Lorem Ipsum

foreach ($peoples as $peopleProp) {
    $count = 0;
    echo '<tr>';
    echo '<td>' . $peopleProp['ID'] . '</td>';
    foreach ($phoneNumbers as $pnProps) {
        if ($peopleProp['PHONE_NUMBER_ID'] == $pnProps['ID']) {
            $count++;
            echo '<td>Номер телефона ' . $pnProps['PHONE'] . '</td>';
        }
    }
    if ($count == 0) {
        echo '<td> - </td>';
    }
    echo '</tr>';
}