when you are in a fight, the opponent tries to kick you and you grab their leg, you then take your thumb and your index finger and "pick" off their tesicles like beans.
Ted: So Jack how did you do in that fight with Timmy.
Jack: He was being cheap trying to kick me so i gave the columbian beanpicker.
To take something small, that doesn't quite qualify as a theft. Probably from the Danish "skæv" or the Dutch "scheef", both of which are pronounced similarly, meaning "askew, or not quite right'. To change an item's ownership without permission, but only something small and of little worth.
"I skeefed an apple off the neighbor's tree." "I skeefed some chips outta your bag when you looked away." "Don't skeef my chair when I go to the bathroom."