"Stealing" in the sense that Jobs means it is a reappropriation of an idea from a seemingly unrelated field into the new one to solve a problem (typically in design it's a teaching problem).

That's why his example from the Macintosh days is about applying calligraphy to rendering typefaces on screen, or why later in the interview he talks about how Apple took great pride in hiring people with a diversity of backgrounds (ex. zoologists and poets)--all to maximize the probability that someone would make an unexpected connection and hence, innovation. It's a subtle point that I frequently see people overlook here, but anybody with humanities training will tell you that there is a tremendous difference between inspiration and plagiarism.