$re = '/(?:\G(?!\A)|\[)[^]\s]*\K\s+/';
$str = '[Edit the] Expression & [Text to see matches]. Roll [over matches or the] expression for details. Undo mistakes with ctrl-z. [Save Favorites and Share expressions with friends] or the Community. Explore your results with Tools. [A full Reference and Help is available in the Library or watch the video Tutorial].';
$subst = "$";
$result = preg_replace($re, $subst, $str);
echo "The result of the substitution is ".$result;
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for PHP, please visit: http://php.net/manual/en/ref.pcre.php