Stealing near sleeping people

How does stealing near sleeping people work in D&D 3.5e? I couldn’t find anything in the Player’s Handbook when looking for “pickpocket” or “steal”.

A concrete situation is the following: A character might want to steal the shoes of a sleeping person. Since the target (hopefully) doesn’t wear their shoes when sleeping, the thief just has to pick the up the shoes quietly from the pile of the target’s belongings they keep next to their bed.

What should determine the success? A mere check on moving silently, or should one also check for sleight of hand?