Is there any prescribed/Sunnah way of apologizing or saying sorry to someone?

There are certain [Islamic terms](https://www.missionislam.com/kidsclub/islamicterms.htm) we Muslims are to use, for example, while thanking someone we say "Jazak Allahu Khayran" and before starting something "Bismillah", intention to do something in the future - "In Sha Allah". ***Is there any known term which is to be used while apologizing to someone or are we to just do it informaly?*** Jazak Allahu Khayran.