Isekai Maid ga Yattekita: Ihoujin Datta Koro no Maid ga Gendai no Wagaya de Ecchi na Maid-san ni

Takahiro was suddenly summoned to another world to be a hero. However, the special ability he was granted was "Steal"—a skill to pilfer things from others. The king who summoned him was disgusted by such a lowly ability, dismissing it as shameful and casting Takahiro out into the streets with no money. Takahiro had no choice but to make a living as an adventurer. Unfortunately, the monsters in this new world were far more powerful than he anticipated, and his "Steal" skill proved utterly useless against them. Realizing he needed help, Takahiro decided his best option was to buy a strong slave to form an adventurer's party. He immediately went to a slave trader, where he experienced a fateful encounter with an Oni girl. (Source: Hifumi Shobo, translated)