Can I create RBAC for kubectl and helm command. Requirement is particular set of user can only run kubectl describe command and other can run apply/create/delete command.
Yes, you define Role/ClusterRole objects and bind them to individual users and ServiceAccounts with RoleBinding/ClusterRoleBinding objects. It is described at length in the Kubernetes documentation
When considering helm use v3. Helm version 3 is a little friendlier than version 2 in this space: version 2 uses an in-cluster management component (Tiller) which needs special RBAC setup, but in version 3 it just runs with the credentials and permissions of the user running the command.