Unless you're truly passionate about street art, I'd suggest starting off with the 'Tag Your Own Chinatown' Cube Truck before heading out to the streets to make a mark on public property.
Kidrobot's Tag Your Own Chinatown Cube Truck is a DIY toy that encourages people to unleash their inner graffiti artist. The vehicle is modeled after the Ford LCF, which is a "mainstay workhorse on the streets of bustling Chinatown, NYC," according to Kidrobot. Considering how New York is famous for street art and how trucks are one of the most common canvases for this artistic medium, this is quite a fitting design. The entire body of the vehicle is empty, making it the perfect target for the aspiring artist to put his/her tag or mural on, without getting arrested.