Safaricom revises its M-Pesa charges after some time and makes the fees they charge publicly available. To access the M-Pesa charges calculator on mySafaricom app, Launch the app then go to M-Pesa > My Account > Cost Calculator then type the amount you would like to transact.
M-Pesa Transaction Charges
Here are M-Pesa transaction charges as of January 1st 2021. Note that opening an account, buying airtime, checking your balance and changing PIN is free.
ATM withdraw charges
The maximum amount you can transact per day in M-Pesa is Kshs. 300,000 and the maximum amount you can hold in your M-Pesa account is Kshs. 300,000.
To be in a position to use the service conveniently, I personally recommend using MySafaricom app which you can download from Google Play or App Store.