I'm not sure where you are reading that. You don't need approval to file a 941. Just file it.
There are third-party services that may be able to do it online, but it would be easiest to file a paper form.
<a rel="nofollow" target="_blank" href="
https://www.irs.gov/pub/irs-pdf/f941.pdf">https://www.irs.gov/pub/irs-pdf/f941.pdf</a>
