Can we steal on foul tip?

[Rich Ives]

If it is truly a foul tip - YES. On a foul tip the ball is in play. See rule 2.00 definition of foul tip.

A foul tip is a batted ball that goes sharp and direct to the catcher's hand or glove and is legally caught. Those "flat" fouls that are tipped and go to the screen, or hit the ump, or hit the catcher in the mask (before it hits the glove) are NOT foul tips.

Be prepared to deal with an umpire who doesn't know/understand the rule. Many new/inexperienced umipres don't.