The short ansswer is no, you'll always get caught. Whether you succeed in kidnapping a girl or not depends on a few things...
If you're doing it on the street, you just need to have better stats than the player currently owning her. I mean fighting skills (having a weapon helps too) and cock fighting skills. I also heard your alliance helps too... I mean, if you're in an alliance with let's say 100 members, you'll have a bonus over a guy with the same stats as you, but in an alliance with 10 members.
If you're doing it in a massage parlour, it is much more risky... as you have to defeat the player's security as in a standard parlour raid.
Also, keep in mind that premium girls (those you buy with real money or that you get through events) are protected. They can NOT be stolen from you or an other player. If you try to kidnap them, you'll just get caught and (if I remember correctly) go to jail.
