My dogs have never done this. They're not allowed in the kitchen. They're allowed to sit at the door and look in, but they know not to step a paw onto that tile floor. They will push the envelope and put a nail on the floor, though.
My cats know not to go on counters, either. Food theft has never been a concern, unless one of us [dumb] humans leaves food out someplace else where they can reach.
I did once catch Lacey eating from my plate when I left it on my bed. Numerous times I've caught her staring at my plate/bowl when I came back into my room. She rarely misbehaves, though.
My boyfriend's family's cat often steals food, if you're not careful. She's been badly spoiled...if a bowl is left out it's for her. Same with plates. So if you happen to walk away from your food, leaving it on the table, she WILL jump up and gobble it down.
She will also open up grocery bags, chew on containers, etc., to get food out. Oh, and she'll rip open un-opened potato chip bags.
I try to inhale my food so Houdini doesn't get a chance. *grumble*