filch
Definitions
To steal something of small value in a casual or stealthy manner.
To pilfer or filch items, typically in a sneaky way.
Examples
The mischievous child tried to filch a cookie from the jar while his mother was distracted.
He managed to filch a pen from the desk when no one was looking.
It is wrong to filch items from the store, regardless of how small they may be.