~A table is an article of furniture supported by one or more vertical legs and having a flat horizontal surface.
~A bench is a long seat, differing from a stool in its greater length.
~A desk is a table, frame, or case, usually with sloping top, but often with flat top, for the use writers and readers. It often has a drawer or repository underneath.
Note on “bench” - it can also refer to something used as a table, with the similarity being that it is long. Eg. workbench.
“Bench” as a seat seems a more American usage.
“Table” is the basic structure: a flat surface on legs. It’s called a “desk” if it is designed or used primarily for work (eg. with drawers etc).