How to use with id param as a endpoint

Hi, i have a restful api with router like: https://api.my.com/v1/users/{id}
With {id} is a value of record id. 
When i use: Users::find()->where(['id' => '{id}'])->one(). It request to api like: https://api.my.com/v1/users?id={id} and my api not build router for that.
So, how can i do that without changing api router.
I am a newbie :( 
Many thanks!