Back when I was dumb (still debatable I guess) we used to smoke joints with bible paper. It wasn't the best tasting thing in the world but it got the job done..
now to the topic at hand, I don't see how it could be wrong if they were placed there to be read and used by people. The Gideons donate them in hopes that someone will take it and read it. So that's not stealing. As far as the towels go, that's not stealing either.. that's just extended borrowing