I used to steal dollar bills and quarters from my parents' wallets a couple of times a week because I wanted change for the school vending machines to buy junk food and they would have said no if I'd asked. They had to have noticed, but they never said anything to me. I never took more than $1 at a time but it probably added up.
I did this too - my dad kept a bunch of change on his dresser and I pretty much helped myself. He was really cheap - he would regularly drop us off at our cousin's house in the summer and didn't understand that we might want to go to Dairy Queen or to the pool and would need money if we didn't want to sit around watching TV all day. I didn't feel bad about it since I had nothing else to do - no camps, no vacations, etc. A trip to the overcrowded public pool was about as good as it got.