You can but hope that the pup will prefer a soft toy to socks and underwear, but it'll almost certainly be a forlorn hope!LOL If your lucky he'll take both.
We had a GSD that used to raid the laundry basket.She'd carefully pick out my mother's underwear and carry that off ! Another GSD used to contentedly chew the heels out of dirty socks.The Yorkie here is invariably the culprit if my underwear, awaiting the wash, disappears.It'll be in her basket, with her sleeping on it.
Sadly for us, the dog likes the smell of its human companions, and takes this enthusiasm to extremes, picking whatever smells of the greatest interest.