Roth IRA (SIP) - Can I Move Cash to Taxable Without Penalty?

I have a Roth IRA at Schwab that’s currently managed in a Schwab Intelligent Portfolios (SIP) account. About 6–7% of the account is sitting in cash as part of the allocation.

If that cash represents my original Roth contributions (not earnings), can I move part of that cash to my Schwab taxable brokerage account without triggering taxes or the 10% early withdrawal penalty?

I’m only asking about the cash portion of the Roth; not selling or transferring any invested positions.