For cosmetics it is a common misunderstanding that “someone”, usually an authority, should approve it. That is not the case. The manufacturer or importer is responsible and can, at his own discretion, bring a product onto the market at any time.
However, this does not mean that you as a manufacturer or importer, do not have to comply with any rules. Your cosmetics should comply with the Cosmetics Regulation (EC) 1223/2009. When sale starts, the product must be registered with the CPNP and there must be a Product Information Dossier (PIF).