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Not a complaint- How do I steal? I know I'm not allowed to steal from players, but where do I learn the skill to steal from npcs?

Only thief-skill-teacher I've found so far is Jorj, who's in the suite of offices above the White Plaza, north side. He teaches Peek, which I think is a precondition for Steal.

Steal definitely exists, though, 'cause we know that certain NPCs steal from us! Maybe they can teach us? Not sure I want to ask them!

Chiensha

And those skills aren't available until a fairly high level. Peek at level 10, and Steal not until level 15.

The thieves (by which I assume you mean Jack and Charlie) can't teach you anything.

There are Thief skill teachers in each of the Thirds, appropriately aligned. The Thief HQs are a little bit hidden, as they should be. But you'll find them through ordinary exploring.

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