I know that is definitely not possible with credit/debit cards. Every once in a while I get a customer with a mangled up old EBT card that's kept together with tape, or one that's so used, its magnetic stripe is practically almost faded away.
You can do it as long as the person has the physical card, a valid ID, and knows the pin. You can't take numbers over the phone or written on a piece of paper.
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Would you like fries with th... I mean, your milk in a bag?
You are allowed to punch in EBT cards only if the card is physically present. You are not allowed to take an EBT number verbally, as in they "don't have the card with them, but they know the number".