Yes there is story of Mahabali stealing crown from Shri Vishnu, this story is mentioned in Mahabharata Tatparya Nirnaya Chapter 16 written by Shri Madvacharya. Below is excerpt from Mahabharata Tatparya Nirnaya :
so.anantavIryaH paramo.abhayo.api nItyai gachchhanjAmadagnyaM
dadarsha |
krIDArthameko.api tato.atidurgaM shrutvA gomantaM
tatra yayau sahAgrajaH || 16.3||
He whose valour is high and reigns supreme, and he who although has no
fear of anything, has diplomatically gone to parashuraama, and when
parashuraama told that the mountain called gomantaka is impasable,
kR^iShNa sportingly went to the mountain along with balaraama. [16-3]
tadA dugdhAbdhau saMsR^itisthaiH surAdyaiH pUjAM prAptuM
sthAnameshhAM cha yogyam |
muktasthAnAdApa nArAyaNo.ajo
balishchA.agAttatra sandrashhTumIsham || 16.4||
When kR^iShNa proceeded to Mt. gomantaka, shriiman naaraayaNa, whose
wont is staying in a place called mukt sthaana, an abode of liberated
souls in Milky Ocean, has come out of it and presented himself in a
place called amukta sthaana in that Milky Ocean, whereat souls still
lingering in karmic cycle will be present, in order to receive worship
of deities and sages. And emperor bali has come there to see the
Almighty. [16-4]
tatra asura aavesham amushhya vishhNuH sandarshayan supti hIno api
nityam |
saMsuptavichchhashya udArakarmA saJNj~nAyai devAnAM
mukhamIxyAprameyaH || 16.5||
Though viShNu is a sleepless entity he pretended to be in fast sleep
when bali is going to enter that place. He who is an unknowble entity,
and who does gracious deeds also set eyes on the deities present
there, indicating that they too feign sleepiness along with him. This
pretence of sleep is to make the aasuric shade of emperor bali known
to the world. [16-5]
devAshcha tadbhAvavido.akhilAshcha nimIlitAxAH shayaneshhu shishyare
|
tadA balistasya vishhNoH kirITa mAdAyAgAjjahasuH sarvadevAH ||
16.6||
Knowing the idea of naaraayaNa, the deities too pretended to be in
sleep by closing their eyes. Then bali entered and took away the crown
of viShNu, making himself a laughing stock of all available there.
[16-6]
nArAyaNe sarvadevaiH samete brahmAdibhirhAsamAne suparNaH |
gatvA pAtALaM yudhi jitvA baliM cha kirITamAdAyAbhyayAdyatra
kR^ishhNaH || 16.7||
While gods along naaraayaNa are laughing at bali’s petty thievery,
garutmanta, the eagle-vehicle of naaraayaNa, dashed to paataala,
netherworld, and fought with bali, retrieved the crown, brought it to
Mt. gomantaka and gave it to kR^iShNa. [16-7]
tattasya shIrshhNi pratimuchya natvA khagaH stutvA devadevaM
ramesham |
smR^ita Agachchhetyeva visarjito.amunA yayau
dugdhAbdhiM yatra nArAyaNo.asau || 16.8||
Placing that crown on the head of kR^iShNa, garuDa reverently
eulogised him, and departed to the abode of naaraayaNa, namely Milky
Ocean, saying that he would be present as and when kR^iShNa
contemplates to summon him. [16-8]
kirITaM tatkR^ishhNamUrdhni pravishhTaM tattulyamAsIttasya
rUpeshhvabhedAt |
tadichchhayA chaiva nArAyaNasya
shIrshhNyapyAsIdyugapaddugdhavArdhau || 16.9||
Because of the non-difference between kR^iShNa and nārāyaNa that crown
lent itself to the head of kR^iShNa, and simultaneously the same crown
shone forth on the head of nārāyaNa also, just by the wish of
nārāyaNa. [16-9]
This episode happens in Gomantaka mountain where Shri Krishna and Jarasandha battle takes place and in Harivamsha Vishnu Parva Chapter 41 it's the same narrative but Mahabali is replaced here by his son Virochana. Passage below is the excerpt from Vishnu Parva Chapter 41
tAbhyAmubhAbhyAM saMlApe vartamAne gR^ihe yathA |
vainateyastato.adhvAnamatichakrAma vegataH ||2-41-37
As they were talking to each other (comfortably) as though they were
at home, the son of vinatA (garuDa) arrived there immediately with
tremendous speed,
sa~NgrAmayuktatejasvI daityapraharaNA~NkitaH |
devatAnAM
jayashlAghI divyasraganulepanaH ||2-41-38
ready for battle, with splendour, with the marks of the daitya's
strikes and smears of divine pastes on his body, one who praises the
victory of deva-s.
suptasya shayane divye kShIrode varuNAlaye |
viShNoH kirITaM
daityena hR^itaM vairochanena vai ||2-41-39
As viShNu was sleeping in the divine milk ocean, the residence of
varuNa, viShNu's crown was stolen by the daitya, vairochana.
tadarthastena sa~NgrAmaH kR^ito gurvarthamojasA |
kirITArthe
samudrasya madhye daityagaNaiH saha ||2-41-40
A terrible battle was fought by garuDa for his preceptor with
splendour, with the daitya and his followers for the crown, in the
middle of the ocean.
mokShayitvA kirITaM tu vaiShNavaM patatAM varaH |
vyatyakramata
vegena gaganaM devatAlayam ||2-41-41
The best among the birds freed the crown of viShNu, left the place and
reached the sky, the residence of gods, quickly.
sa dadarsha guruM shaile viShNuM kAryAntarAgatam |
tena
krIDAvalambena kirITena virAjatA ||2-41-42
After accomplishing the task, he saw his preceptor viShNu on the
(gomantaka) mountain. garuDa was flying with the crown hanging from
his beak, as if he was playing.
sa dR^iShTvA mAnuShaM viShNuM sailarAjashirogatam |
prakAshacheShTAnirmuktaM vimaulimiva mAnuSham ||2-41-43
He saw viShNu in the form of a human being on the peak of the king of
mountains, without any external activity, like a human being without a
diadem (see nIlakaNTha commentary).
abhij~nastasya bhAvAnAM garutmAnpatatAM varaH |
chikShepa khaM
gato mauliM viShNoH shirasi hR^iShTavat ||2-41-44
garuDa, the best among birds, seeing his condition, left the crown,
from the sky, happily on viShNu's head.
upendramUrdhni sA maulirapinaddhA ivApatat |
shirasaH
sthAnanirmuktA kR^iShNaM chaivAnvashobhayat |
yathaiva
merushikhare bhAnurmadhyaMdine yathA ||2-41-45
That crown, as it fell, got fixed on the head of upendra (kR^iShNa)
without tying. The crown on the head made kR^iShNa sparkle, like the
sun on the peak of meru during the middle of the day.
vainateyaprayogeNa viditvA maulimAgatAm |
kR^iShNaH
prahR^IShTavadano rAmaM vachanamabravIt ||2-41-46
Knowing that the crown was retrieved due to the work of the son of
vinata (garuDa), kR^iShNa with a happy face, spoke these words to
balarAma:
tvarate khalu kAryArtho devatAnAM na saMshayaH |
yatheyamAvayoH
shaile sa~NgrAmarachanA kR^itA ||2-41-47
(kR^iShNa said) I am eager to do the work of deva-s. There is no
doubt. The battle field is set for us on this mountain.
vairochanena suptasya mama maulirmahodadhau |
shakrasya
sadR^ishaM rUpaM divyamAsthAya sAgarAt ||2-41-48
Taking a divine form similar to indra (shakra), vairochana had taken
away my crown while I was sleeping in the great ocean.
grAharUpeNa yo nIta AnIto.asau garutmatA |
mamAhishayanAnmaulirhR^itvA kShipto garutmatA ||2-41-49
The crown, taken away (by virochana) in the form of a large fish was
brought back by garuDa. garuDa has captured my crown which was lost
while I was sleeping on the serpent (bed)
Here slight variation between Harivamsha and Mahabharata Tatparya Nirnaya is in Harivamsha, Garuda fights with Virochana and Daityas in Milky Ocean (Sheera Sagara) itself whereas in MBTN (Mahabharata Tatparya Nirnaya) Garuda enters patalaloka and fights with Mahabali and brings crown to Shri Krishna. I hope I have answered your question.