Since BNB Smart Chain (BSC) is 100% EVM compatible, wallet providers like Trust Wallet have provided support for both ERC20 and BEP20 tokens.
If you have accidentally withdrawn ERC20 tokens as BEP20 token to your Ethereum wallet address, you will be able to recover them by connecting the receiving wallet to BNB Smart Chain (BSC) and send the BEP20 tokens back into Binance then withdraw them as ERC20.
A simple way is to use Metamask and connect your wallet with Metamask to BNB Smart Chain, you can refer to How to connect Metamask to BNB Smart Chain?
For further support, you may contact your wallet provider or exchange service as they are in a better position to assist you in this matter.
Extra Resources:
Trust Wallet - How to Send and Receive BNB on Smart Chain?
Binance Chain Docs - Use Metamask For Binance Smart Chain