Free allocated memory before return a function

I am trying to return an array using malloc in a function:

char* queueBulkDequeue(queueADT queue, unsigned int size)
{
    unsigned int i;
    char* pElements=(char*)malloc(size * sizeof(char));
    for (i=0; i<size; i++)
    {
        *(pElements+i) = queueDequeue(queue);
    }
    return pElements;
}

The problem is that I need to free it because my MCU's heap size is limited. But I want to return it so I cannot free it in the function, right?. Can I free the allocated memory outside the function (where I call the function). Is there any best practices for this? Thank you in advance!