I had my AirPods Pro stolen how can I replace them?

You would have to purchase a new set of AirPods.

I think the best you could hope for is if you have insurance (not Apple) that covers theft from your home or or whatever.

Depending on your policy, the deductible may be greater than the cost of replacement. Plus you would have to have reported the theft to police and somehow prove that they ever existed and were indeed stolen.

Buy a new set. Some Authorized Apple Resellers have them on sale.