Can I get money back from stake?

Hello, I'm curious about the process of withdrawing funds from a staking pool. I understand that staking involves locking up cryptocurrency to support the network and earn rewards, but what happens if I want to get my money back? Is there a specific procedure I need to follow? Are there any fees or penalties associated with withdrawing my stake? And how long does it typically take for the funds to be returned to my wallet? I'd appreciate any information you can provide to help me understand the process better. Thank you.