first of all, i highly doubt stealing would ever be the ONLY WAY to feed a starving child. If someone were asking for food to feed a starving child, many people/places would help. Unfortunately, many people either beg for, or steal MONEY... which makes things blurry because while money can BUY food, money is NOT food and will not feed a starving child, and even people that beg for money under the pretense of helping their families often use the money for other things. (I once gave a dollar to a man outside a grocery store who wanted to "get some food"... and then later saw him in the liquor store. awesome.)
I honestly don't think I've ever heard of food being stolen - if someone went into a grocery store and stole bread, milk, cheese and vegetables to feed a starving child, that would be a first.
...not to mention, if you went to jail for stealing, THEN what would the child do? You'd be hurting more than helping, really.