I know Sleight of Hand is useable in combat, because there were ridiculous flamewars about stripping your opponents naked in combat, and them not being able to do anything about it (the Spot check only lets them
notice, not stop you, and you can use it as a free action with a -20 penalty
). I'm pretty sure there is a rule about using it to plant an object on another person, as well, but I don't see it in the SRD. Maybe it was in Complete Scoundrel or Adventurer, or something like that?
Edit: You do still have to actually make the DC 20 check to steal an object from someone, and with the -20 penalty, that's actually no small feat. So the old threads about being able to put 1 rank in Sleight of Hand, and steal all of someone's gear in combat as free actions are a bit misleading.