i think that Personal Kiosk works with an owner cap, you may first return the cap to the kiosk in order to unlock the asset.

You can read here: https://github.com/MystenLabs/apps/blob/main/kiosk/sources/extensions/personal_kiosk.move

Yes, NFTs can be withdrawn from a personal Kiosk on Sui, but this depends on the specific rules and configurations applied to the Kiosk and the NFTs within it. When NFTs are placed into a Kiosk, they are typically locked due to the transfer policy or lock transfer rule associated with the Kiosk.