verb

pilfer or steal (something, especially an item of small value) in a casual way.

they filched milk off morning doorsteps

pilfer,steal,thieve,rob,take,purloin,snatch,abstract,misappropriate,embezzle,shoplift,swipe,nab,whip,rip off,lift,liberate,walk off/away with,run off/away with,snaffle,snitch,pinch,nick,knock off,nobble,blag,half-inch,glom,heist,snavel,clifty,tief,peculate,crib,hook