Inversion, swapping the order of words in a question, is much more common in written French and can sound a bit formal in spoken French.
However there are no hard and fast rules, and you will hear it used in spoken French with everyday verbs like aller, to go, vouloir, to want, and faire, to do.
You can also add the phrase est-ce que...? literally 'is it that...?' at the start of a question. You don't need to change the order:
Vous avez une table
Est-ce que vous avez une table ?