There are a few different ways to update a “source table” by joining it to another table.
ANSI/ISO:
update ud set assid = ( select sale.assid from sale where sale.udid = ud.id ) where exists ( select * from sale where sale.udid = ud.id );
MySQL:
update ud u inner join sale s on u.id = s.udid set u.assid = s.assid
SQL Server:
update u set u.assid = s.assid from ud u inner join sale s on u.id = s.udid
Oracle:
update (select u.assid as new_assid, s.assid as old_assid from ud u inner join sale s on u.id = s.udid) up set up.new_assid = up.old_assid