INSERT INTO TABLE
SELECT value_for_column1, value_for_column2, ...
FROM wherever
WHERE your_special_condition
If no rows are returned from the select (because your special condition is false) no insert happens.
Using your schema from question (assuming your id column is auto_increment):
insert into orders (product_id, qty)
select 2, 20
where (SELECT qty_on_hand FROM products WHERE id = 2) > 20;
This will insert no rows if there’s not enough stock on hand, otherwise it will create the order row.
Nice idea btw!