But yes, I believe you can.

However, you cannot TAKE a pet away from someone with the TAKE command.

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But let's give it a try:

1.) run WoS
2.) pick evergreen
3.) Incarnate as cheater
4.) figure out ITEM id of a pet..
Item 1000 looks good. (note, you give the ITEM not the MONSTER)

5.) /give I1000
"You have acquired a pet stinger"

6.) It's in the pen

7.) I can summon it into the scene.

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Yes, you can GIVE yourself a pet with the GIVE command (and hence can do it in a scene)