It’s not illegal to take money from your kids in most cases, although, of course, there are exceptions, like if the child’s money is in a specific trust and you abuse the funds.
Did Steve Jobs leave his daughter any money?
Lisa Brennan-Jobs, now a 42 year old author and a Harvard graduate, had a different experience growing up with her father than her half-siblings. After his death, Steve Jobs did make sure to leave Lisa with a multi-million dollar inheritance.