How to reshape flat data from SOAM result by R or Bash?

I use SOAP to extract data from the BRENDA enzyme. After extracting I get the following flat data type:

ecNumber3.2.1.23#piValue6.9!ecNumber3.2.1.23#piValue7.1!ecNumber4.4.1.14#piValue6

And I want to reshape data to the following type:

Can I do that using the awk function? Or a bash command of some kind? Or R?

In base R, we may use read.dcf after inserting \n

str2 <- gsub("#", "\n", gsub("!", "\n\n", gsub("([a-z])([0-9])", "\\1: \\2", str1))) 
read.dcf(textConnection(str2), all = TRUE)
  ecNumber piValue
1 3.2.1.23     6.9
2 3.2.1.23     7.1
3 4.4.1.14       6

data

str1 <- "ecNumber3.2.1.23#piValue6.9!ecNumber3.2.1.23#piValue7.1!ecNumber4.4.1.14#piValue6"