Can I remove my signature from a document?

Yes and no.

If the document has not been signed and thus completed by all recipients yet, you can contact the Sender of the document and request they cancel the transaction, which will void all signatures already placed on the document.

If the document has been signed by all recipients and as such is considered completed, along with a Certificate of Fulfillment, then you cannot remove your signature - the same way you wouldn’t be able to remove a signature from a physically signed document.