If I am an owner or insider of a company, and I gift shares to my parents, do I have to file a form? And will that form be public after?

Say I own a company or am an insider with a large position. And i choose to gift shares to a family member, so I have to file any forms with the SEC? Like how a form 4 shows if I sold or bought shares within that company? And if so, does that form become publicly available like form 4’s do?