Is it possible to snatch a weapon directly from an enemy/monster?

As a point of clarification for this post, I’m just trying to figure out if it’s actually possible to take an enemy’s item directly from them during combat, all in the scope of one turn. Since Disarm doesn’t technically allow you to directly steal an item (it falls to the ground and opportunity attacks also seem debatable), is there an action or feature that allows you just take an enemy’s wielded item and put it in your hand in one fell swoop?