There isn't a direct English equivalent for this word, as it has connotations that go beyond simply taking something without permission. "Kaliyakkuka" implies a more devious or sneaky way of stealing.
Here are some English phrases that convey similar meanings:
* To pilfer
* To filch
* To purloin
* To abscond with
* To make off with
* To swipe (informal)
The best choice will depend on the specific context of the situation.