Request ICP between canisters

I probably should do more research before asking this…but

let’s say canisterA holds some ICP, can canisterB request X ICP from canisterA with some types of pre-approval but no human signature?

I think so, just create a method in A to call Ledger transfer.
FYI https://github.com/ICEvent/Escrow/blob/84dc65eefdc3c3d7390b1eafd1ab4c3adafc4871/src/main.mo#L305

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