SQL Split comma separated list from one table and print content from second table based upon this list

I have two tables, rooms and utilities.

In the table named rooms, I have a column called utilities. This column stores comma separated numbers referencing the IDs from the table utilities.

How can I split (explode?) the values from the utilities column, and match them against the utilities table, printing the values that have matching IDs as the spitted values?

Example:

Table: rooms

Table: utilities

I want to print something like this:

Room1: Speakers, Smart TV, Web camera

Here's what I have so far, confroomreport.php:

<?php
 require_once("db.php");
 $util = $conn->getDeviceList();
 $arr = $conn->getConfRoomList();
?>


<table border='1'>
    <tr>
        <th>Room</th>
        <th>Utilities</th>
    </tr>
    <?php for( $i=0; $i < count($arr); $i++) {
    print_r  ("<tr>
     <td>".$arr[$i]['name']."</td>
     <td>".$arr[$i]['utilities']."</td>
     </tr>"); } ?>
</table>

and in db.php

public function getDeviceList()
    {
          $arr = array();
          $statement = $this->conn->prepare("SELECT id, device from utilities order by device ASC");
          $statement->bind_result($id, $device);
          $statement->execute();
          while ($statement->fetch()) {
            $arr[] = [ "id" => $id, "device" => $device];
          }
          $statement->close();

          return $arr;
    }

public function getConfRoomList()
  {
      $arr = array();
      $statement = $this->conn->prepare("SELECT id, name, utilities from rooms order by name ASC");
      $statement->bind_result($id, $name, $utilities);
      $statement->execute();
      while ($statement->fetch()) {
      $arr[] = [ "id" => $id, "name" => $name, "utilities" => $utilities];
      }
      $statement->close();

      return $arr;
  }

EDIT: updated code based on accepted solution.

I added this to my db.php:

  public function joinDevRoom()
  {
     $arr = array();
     $statement = $this->conn->prepare("SELECT r.name,GROUP_CONCAT(u.device) FROM room r LEFT JOIN utilities u ON FIND_IN_SET(u.id,r.utilities)>0 GROUP BY r.id");
     $statement->bind_result($id, $utilities);
     $statement->execute();
     while ($statement->fetch()) {
       $arr[] = [ "id" => $id, "utilities" => $utilities];
     }
     $statement->close();

     return $arr;
  }

and this is my updated confroomreport.php:

<?php
 require_once("db.php");
 $arr = $conn->getConfRoomList();
 $join = $conn->joinDevRoom();
?>


<table border='1'>
    <tr>
        <th>Room</th>
        <th>Utilities</th>
    </tr>
    <?php for( $i=0; $i < count($arr); $i++) {
     print_r  ("<tr>
     <td>".$arr[$i]['name']."</td>"); }
     for( $u=0; $u < count($join); $u++) {
     print_r ("<td>".$join[$u]['utilities']."</td>
     </tr>"); } ?>
    </table>

Try this

SELECT r.Name,GROUP_CONCAT(u.Device) FROM rooms r
LEFT JOIN utilities u ON FIND_IN_SET(u.id,r.Utilities)>0
GROUP BY r.ID