No, you can't steal clothes. Upon death you lose all things you had on you but clothing, it stays with you.   I'm pretty sure you'd be able to change clothes though! Like if you kill someone you can go hide somewhere and just change your outfit into something different. Not sure if you could change clothes like in GTA V, as in you always have them on you and can change outfits whenever, but if not you'll probably be able to store them in your inventory. You can also wear a mask but that's just additional info.