diff --git a/sql/hive/src/main/scala/org/apache/spark/sql/hive/HiveSessionCatalog.scala b/sql/hive/src/main/scala/org/apache/spark/sql/hive/HiveSessionCatalog.scala
index f60bad180a710..a8439edcb871b 100644
--- a/sql/hive/src/main/scala/org/apache/spark/sql/hive/HiveSessionCatalog.scala
+++ b/sql/hive/src/main/scala/org/apache/spark/sql/hive/HiveSessionCatalog.scala
@@ -86,14 +86,7 @@ private[sql] class HiveSessionCatalog(
       }
     } catch {
       case NonFatal(e) =>
-        val noHandlerMsg = s"No handler for UDF/UDAF/UDTF '${clazz.getCanonicalName}': $e"
-        val errorMsg =
-          if (classOf[GenericUDTF].isAssignableFrom(clazz)) {
-            s"$noHandlerMsg\nPlease make sure your function overrides " +
-              "`public StructObjectInspector initialize(ObjectInspector[] args)`."
-          } else {
-            noHandlerMsg
-          }
+        val errorMsg = s"No handler for UDF/UDAF/UDTF '${clazz.getCanonicalName}': $e"
         val analysisException = new AnalysisException(errorMsg)
         analysisException.setStackTrace(e.getStackTrace)
         throw analysisException
diff --git a/sql/hive/src/main/scala/org/apache/spark/sql/hive/hiveUDFs.scala b/sql/hive/src/main/scala/org/apache/spark/sql/hive/hiveUDFs.scala
index c7002853bed54..7717e6ee207d9 100644
--- a/sql/hive/src/main/scala/org/apache/spark/sql/hive/hiveUDFs.scala
+++ b/sql/hive/src/main/scala/org/apache/spark/sql/hive/hiveUDFs.scala
@@ -213,10 +213,14 @@ private[hive] case class HiveGenericUDTF(
   }
 
   @transient
-  protected lazy val inputInspectors = children.map(toInspector)
+  protected lazy val inputInspector = {
+    val inspectors = children.map(toInspector)
+    val fields = inspectors.indices.map(index => s"_col$index").asJava
+    ObjectInspectorFactory.getStandardStructObjectInspector(fields, inspectors.asJava)
+  }
 
   @transient
-  protected lazy val outputInspector = function.initialize(inputInspectors.toArray)
+  protected lazy val outputInspector = function.initialize(inputInspector)
 
   @transient
   protected lazy val udtInput = new Array[AnyRef](children.length)
diff --git a/sql/hive/src/test/scala/org/apache/spark/sql/hive/execution/SQLQuerySuite.scala b/sql/hive/src/test/scala/org/apache/spark/sql/hive/execution/SQLQuerySuite.scala
index 3370695245fd0..96c5bf7e27279 100644
--- a/sql/hive/src/test/scala/org/apache/spark/sql/hive/execution/SQLQuerySuite.scala
+++ b/sql/hive/src/test/scala/org/apache/spark/sql/hive/execution/SQLQuerySuite.scala
@@ -2160,32 +2160,6 @@ abstract class SQLQuerySuiteBase extends QueryTest with SQLTestUtils with TestHi
     }
   }
 
-  test("SPARK-21101 UDTF should override initialize(ObjectInspector[] args)") {
-    withUserDefinedFunction("udtf_stack1" -> true, "udtf_stack2" -> true) {
-      sql(
-        s"""
-           |CREATE TEMPORARY FUNCTION udtf_stack1
-           |AS 'org.apache.spark.sql.hive.execution.UDTFStack'
-           |USING JAR '${hiveContext.getHiveFile("SPARK-21101-1.0.jar").toURI}'
-        """.stripMargin)
-      val cnt =
-        sql("SELECT udtf_stack1(2, 'A', 10, date '2015-01-01', 'B', 20, date '2016-01-01')").count()
-      assert(cnt === 2)
-
-      sql(
-        s"""
-           |CREATE TEMPORARY FUNCTION udtf_stack2
-           |AS 'org.apache.spark.sql.hive.execution.UDTFStack2'
-           |USING JAR '${hiveContext.getHiveFile("SPARK-21101-1.0.jar").toURI}'
-        """.stripMargin)
-      val e = intercept[org.apache.spark.sql.AnalysisException] {
-        sql("SELECT udtf_stack2(2, 'A', 10, date '2015-01-01', 'B', 20, date '2016-01-01')")
-      }
-      assert(
-        e.getMessage.contains("public StructObjectInspector initialize(ObjectInspector[] args)"))
-    }
-  }
-
   test("SPARK-21721: Clear FileSystem deleterOnExit cache if path is successfully removed") {
     val table = "test21721"
     withTable(table) {
@@ -2583,6 +2557,30 @@ abstract class SQLQuerySuiteBase extends QueryTest with SQLTestUtils with TestHi
       }
     }
   }
+
+  test("SPARK-32668: HiveGenericUDTF initialize UDTF should use StructObjectInspector method") {
+    withUserDefinedFunction("udtf_stack1" -> true, "udtf_stack2" -> true) {
+      sql(
+        s"""
+           |CREATE TEMPORARY FUNCTION udtf_stack1
+           |AS 'org.apache.spark.sql.hive.execution.UDTFStack'
+           |USING JAR '${hiveContext.getHiveFile("SPARK-21101-1.0.jar").toURI}'
+        """.stripMargin)
+      sql(
+        s"""
+           |CREATE TEMPORARY FUNCTION udtf_stack2
+           |AS 'org.apache.spark.sql.hive.execution.UDTFStack2'
+           |USING JAR '${hiveContext.getHiveFile("SPARK-21101-1.0.jar").toURI}'
+        """.stripMargin)
+
+      Seq("udtf_stack1", "udtf_stack2").foreach { udf =>
+        checkAnswer(
+          sql(s"SELECT $udf(2, 'A', 10, date '2015-01-01', 'B', 20, date '2016-01-01')"),
+          Seq(Row("A", 10, Date.valueOf("2015-01-01")),
+            Row("B", 20, Date.valueOf("2016-01-01"))))
+      }
+    }
+  }
 }
 
 @SlowHiveTest