If you're not concerned about the exact formatting however you do want something simple but without the line breaks of print_r you can also use json_encode($value) for a quick and simple formatted output. (note it works well on other data types too)
$str = json_encode($arr);
//output...
[{"id":"123","name":"Ice"},{"id":"234","name":"Cake"},{"id":"345","name":"Pie"}]
