Error invalid parameter number PDO

Yang salah dari function saya apa ya ? kok masih error

Function

public function update($table, $parameters)
    {
        $sql = sprintf('update %s set %s = "%s" ', $table,implode(' ',array_keys($parameters)), ':'.implode(', ',array_keys($parameters))
            );

        try {
            $stmt = $this->pdo->prepare($sql);
            $stmt->execute($parameters);
            return true;
        } catch (\Exception $e) {
            echo $e->getMessage();
            return false;
        }
    }

try {
		if (isset($_POST["ubah"])) {
			extract($_POST);
			$up = $db->update('users where id = :id', [
					'nama' => $nama,
					'alamat' => $alamat,
					'tlp' => $telp
				]);
			// header("location:index.php");
		}
	} catch (Exception $e) {
		echo $e->getMessage();
	}
 ?>
<form method="post">
	<table>
		<tr>
			<th>Nama</th>
			<td><input type="text" name="nama" value="<?php echo $user['nama'] ?>"></td>
		</tr>
		<tr>
			<th>Alamat</th>
			<td><input type="text" name="alamat" value="<?php echo $user['alamat'] ?>"></td>
		</tr>
		<tr>
			<th>Telepon</th>
			<td><input type="text" name="telp" value="<?php echo $user['tlp'] ?>"></td>
		</tr>
		<tr>
			<th></th>
			<td><input type="submit" name="ubah" value="Ubah"></td>
		</tr>
	</table>
</form>

ERROR

Warning: PDOStatement::execute(): SQLSTATE[HY093]: Invalid parameter number: number of bound variables does not match number of tokens in E:\XAM\htdocs\pdomaster\database\QueryBuilder.php on line 66