Bcp,
I am going to use the example you’d posted to illustrate the usage of “which”, “that” and “whose” and hope this can help you.
1 Please bring me the apple which is on the kitchen table. Which – is used on inanimate objects in sentences with clause construction. The high lighted portion is the main sentence and the italic is the “which” clause.
Another example: My new apartment is on the 20th floor which gives me a very good view of the bay.
There are times, you may find which and that used alternatively. Personally, I think it’s more of a preference than a error. So # 2 to me is still correct grammatically in my opinion. However, #2 semantically sounds rather odd. If you can describe something in simpler terms without using complex sentence structures, why do it? Why not just say “Please bring me the red apple?” or “please bring me the red apple that is on the table?”
#2 bring me the apple that is red
For # 3, whose is used on people, not objects or things.
A policeman is a public servant whose job is to serve and protect the public.
“Whose” has a possessive property which is different than “which” and “that”.
Hope that helps!