If someone send token to token address then there is a any way to transfer token from token address ?

if they have a function in the contract that allows them to do it yes

If contract has withdraw function yes

Is openzeppelin provide these functionality ?

You can code it yourself in few rows

Oz doesn't have those as far as i remember

How , who approve ?

if you don't know how to withdraw tokens from a contact, you want to check the erc20 standard and try to spend some time thinking on how you can do that =)

Okay

and remember remix is your friend.
When you need to test a new implementation, even if it's a single function, just write a new empty contract and test only that particular function

once it works, you can extend it to your project

make an erc20 token on remix, make an empty contract and send the tokens there.
Those are now stuck.
What code is needed to remove them from the contract?

Okay