$$\frac{1}{r}\partial_{r}u(r,t)=\partial_{t}u(r,t)$$
The calculus below concerns continuous and differentiable functions. Any method to solve this PDE (especially the method of characteristics) leads to the general solution :
$$u(r,t)=F\left( t+\frac{r^2}{2}\right)$$
where $F$ is any differentiable function.
The function $F$ has to be determined according to some boundary and/or initial condition(s).
If those conditions are sufficient, $F$ can be determined. If those conditions are overabundant and not consistent one to another, there is no solution.
The specified conditions $u(0,t)=g(t),\quad u(R,t)=f(t) $ and $u(r,0)=h(r)$ involve three given functions : $g,f,h$ which is too much for a first order PDE. The conditions are overabundant. So the question is : are they consistent one to another ?
Consider the first condition $\quad u(0,t)=g(t) \quad\to\quad F(t-0)=F(t)=g(t)\quad$ determines the function $F=g$. So the solution of the PDE according to the first condition is :
$$u(r,t)=g\left( t+\frac{r^2}{2}\right)$$
Then, let apply the second condition $\quad u(R,t)=f(t)=g\left( t+\frac{R^2}{2}\right)$
So, they are two cases : if the given functions $g$ and $f$ are not related according to the above relationship, the problem (given PDE and given conditions) has no solution. If the given functions $g$ and $f$ are related according to the above relationship, the problem (given PDE and given conditions) has a solution :
$$u(r,t)=g\left( t+\frac{r^2}{2}\right)=f\left( t+\frac{r^2}{2}-\frac{R^2}{2}\right)$$
Then, let apply the third condition $\quad u(r,0)=h(r)=g\left(\frac{r^2}{2}\right)$
Again, they are two cases : if the given functions $g$ and $h$ are not related according to the above relationship, the problem (given PDE and given conditions) has no solution. If the given functions $g$ and $h$ are related according to the above relationship, the problem (given PDE and given conditions) has a solution :
$$u(r,t)=g\left( t+\frac{r^2}{2}\right)=f\left( t+\frac{r^2}{2}-\frac{R^2}{2}\right)=h\left(\sqrt{2t+r^2}\right)$$