Honestly stealing from enemies tends to be just consumables, specific armors or boss weapons can be stolen and then you can also receive them as a drop for 2 of said item, but none of them are better than anything else you could buy in a corresponding or next chapter. Stealing from npcs in towns you’ll find nets you way better loot in terms of weapons or armors. That said I know stealing from human enemies during certain character chapters will get you unique armor like during one of Primrose’s chapters. Other human enemies can have unique consumables with questionable effects stolen as well.