Dear Shraddha,
It depends upon company to company culture. Company where mostly blue cower (uneducated) employee works, mostly HR people only fill their PF form to avoid any mistakes in the PF form and submit their PF forms to PF office for withdrawal along with the company’s acknowledgement letter. In case PF office reject any PF form for any reasons, they directly send rejection notice on companies address and then the HR department resolve the issue. But if you are confident enough, you can itself fill the PF form and submit it to the PF office (after taking authorized signature on form) otherwise request your HR to submit your PF form.