You can use the verb purloin to mean "steal" or "take," especially if it's done in a sneaky way. If you sneak a dollar out of your mom's purse, you purloin it.
Kids might purloin apples from a neighbor's tree, and a crooked cashier might purloin cash from her boss's convenience store. Originally, purloin meant "put at a distance" in Middle English. The word comes from the Anglo-French purloigner, "put away."