If the creditor has been paid, the creditor should sign and date a receipt, which is filed with the court. If the creditor is simply withdrawing the claim, there is not a specific pre-printed form that I am aware of, but the creditor can file a withdrawal of claim, on pleading paper, and sign it under penalty of perjury. This is then filed with the court.
Another way to approach this is to simply file an AMENDED CREDITOR CLAIM signed by the same party that filed the original claim, and this time showing a $0 amount due. That way, you can use the same form used for the original filing. You would want to attach a copy of the original claim to the new filing. And, yes, it needs to signed under penalty of perjury -- just like the original claim.
Good luck!