So the query that you have (although better written using post-1992 query syntax) is all that you need. The rest of the problem is a simple case of rearranging the resulting array. I don't know eloquent/laravel, and I'm embarrassingly bad at rearranging arrays, but here's an example of the kind of thing I mean using plain old php (perhaps someone will be kind enough to write a more apt array transformation)...
<?php
/*
DROP TABLE IF EXISTS table_a;
CREATE TABLE table_a
(no SERIAL PRIMARY KEY
,name  VARCHAR(12) UNIQUE
,type INT NOT NULL
);
INSERT INTO table_a VALUES
(1,'shoe',1),
(2,'shirt',2),
(3,'book',3);
DROP TABLE IF EXISTS table_b;
CREATE TABLE table_b
(type SERIAL PRIMARY KEY
,color VARCHAR(12) NOT NULL
,size VARCHAR(12) NOT NULL
);
INSERT INTO table_b VALUES
(1,'red','big'),
(2,'yellow','small'),
(3,'blue','medium');
SELECT a.no
     , a.name
     , b.*
  FROM table_a a
  JOIN table_b b
    ON b.type = a.type
 ORDER
    BY a.no;
+----+-------+------+--------+--------+
| no | name  | type | color  | size   |
+----+-------+------+--------+--------+
|  1 | shoe  |    1 | red    | big    |
|  2 | shirt |    2 | yellow | small  |
|  3 | book  |    3 | blue   | medium |
+----+-------+------+--------+--------+
*/
require('path/to/connection/stateme.nts');
$query = "
SELECT a.no
     , a.name
     , b.type
     , b.color
     , b.size
  FROM table_a a
  JOIN table_b b
    ON b.type = a.type
 WHERE a.no = 1
   AND a.type = 1
 ORDER
    BY a.no;
";
$result = mysqli_query($db,$query) or die(mysqli_error());
$old_array = array();
while($row = mysqli_fetch_assoc($result)){
$old_array[] = $row;
}
$new_array = array();
foreach ($old_array as $row) {
   $new_array[]['name'] = $row['name'];
   $new_array[$row['no']]['info']['color'] = $row['color'];
   $new_array[$row['no']]['info']['size'] = $row['size'];
}
$new_array = array_values($new_array); // reindex
print_r($new_array);
?>
Outputs:
Array
(
    [0] => Array
        (
            [name] => shoe
        )
    [1] => Array
        (
            [info] => Array
                (
                    [color] => red
                    [size] => big
                )
        )
)
or, json_encoded...
[{"name":"shoe"},{"info":{"color":"red","size":"big"}}]