According to the Hotwire GTA video, kicking a store's door triggers the alarm, while the quiet method goes through the back door. Steps mentioned:
1. Pick the back door lock with a lockpick called the Snap Gun.
2. Turn off the cameras.
3. Empty the register.
4. Leave the premises.
According to the iGrandTheftAuto article, which summarizes a Famitsu interview, the alarm is indeed the thing to avoid. Rob Nelson told IGN that police only come if someone witnesses the crime or if an alarm goes off. Carole Quintaine's video adds that robberies can be done solo or in duo, with discreet approaches, and that picking a door and disabling surveillance cameras are possible.
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How to escape the police after a robbery in GTA 6
