Can I sue or penalize a bank or credit company who take money from my personal checking account without my permission? They asked me to set a date of payment but I told them , I will pay online when I have enough money to pay. But they took it without my permission after a week.

What did they take it for? Do you have a loan with them?

I bet, if you read the fine print of what you signed, that they have permission to debit your account if your are in default.

This is known as Off Set and is normally covered in the T&C's.
BTW, while it can be a pain it is perfectly legal.