Remove custom post types name from url

Dear friends,

We are developing a new site and don’t know if is it possible to achieve the following.

As we remove posts categories from url and left only posts title like:
site.com/category/post-title > site.com/post-title

We want to achieve the same with some custom post types we have created. Is it possible?
It would be something like this:
site.com/custom-post-type-name/post-title > site.com/post-title

How can we set it to delete custom post type generic name from the url?
This is a real example:
https://staging.mountainbiker.es/pruebas/prueba-kross-earth-te/ We want to remove “pruebas” from the url and left only the title.

Thanks in advance.