Not sure what you mean about canceling the listing. If you mean on Trulia or other sites, you have to delete the listing at it's source. Most listings auto feed to sites like Trulia, Zillow, Realtor.com, etc.
So if the source is the MLS, have it deleted there and it will take time to feed through and delete everywhere else. If the source is Craigslist, delete the listing there and the same will follow.
If you put it on the MLS with an agent, you can ask your agent what they need. If it was rented using a Realtor and you had an agreement to pay them, that should end the listing just like the sale of a house.
We hope this helps,
Mark & Kari Shea
Shea Real Estate
National Association of Realtors
CA BRE License 01713506