Any service will do, they are all reliable. Usually, hotels have contracts or preferred carriers they use for baggage forwarding services. Just ask the hotel and use the carrier the hotel uses. The hotel staff will help you fill out the form (unless you can read and write Japanese) and the hotel will do the pickup arrangement. In most hotels, you can charge that to your room and pay when you check out, but some smaller hotels (or business hotels) will ask you to pay in cash separately.

There are a lot of posts already about baggage forwarding in the Japan forum. You can read on that.