Adding another solution in case someone is looking for printf function with awk. Though 1st solution provided in Here should be used IMHO, as an alternative adding these solutions too here.
2nd solution: Adding solution to check if lines starts with alphabets, then only add them with previous lines or so.
awk '{printf("%s%s",$0~/^[a-zA-Z]/?(FNR>1 && prev~/^[a-zA-Z]/?OFS:""):ORS,$0);prev=$0} END{print ""}' Input_file
3rd solution: Note: This will work only if your lines has colon present in the lines as per shown samples.
awk '{printf("%s%s",$0~/:/?(FNR>1?ORS:""):OFS,$0)} END{print ""}' Input_file
Explanation: Using printf function of awk. Then using conditions, if current line has : and greater than 1 then print ORS else print nothing. If line doesn't contain : then print OFS for each line. In the END block of this program printing newline.