Dear Rashmi,
This depends on your work arrangement.
Firstly, suppose you have hired the services of such a cleaning worker from any agency or contractor for every Sunday on a regular basis, and if the agency has their own ESI/PF code and contributions are being paid regularly, then they shall be provided an I.P. number/TC card/smart card under ESIC and a PF account number under the PF Act. In such a situation, the worker will be able to get all benefits under ESIC and will be able to withdraw their PF amount.
Secondly, if you have hired the services of such a cleaning worker on a regular basis by yourself, then they will be covered, and contributions of ESI and PF are payable by you. You should have all personal details of the worker or ask for them. Simply put, if you are paying contributions, you should certainly have the personal details of such workers (Already established by the Supreme Court in a number of cases that it is the duty of the employer to have all details of employees). Based on the personal details, you will issue an I.P. number and TC/Smart Card, and then they will definitely be able to get all benefits and be able to withdraw their PF amount.
Thirdly, if such a worker is not a regular worker, if they are a freelancer, then they will not be coverable because on the next Sunday you may ask for another worker to be engaged, they will clean and leave. Such a freelancer will not be considered an employee as held in the case of Modern Equipment Co V/s ESIC 1984 LLN 960.
In the case of the third part, these are loopholes in both the ESI Act and PF Act because both stress that even if a person works for a single day, they are still coverable. But in such cases, employers don't have particulars of such workers. However, if in your bill of accounts, you show such charges as labor charges, then at the time of inspection, both authorities, ESI & PF, press employers for the contribution, which practically seems odd because in such a way, this amount goes to the government exchequer and not to the workers.
Hope this satisfies your query.