Almost certainly not. This is one of those ideas that feels logical on the surface but falls apart when you do the actual math.
If you withdraw from your 401k before age 59.5, you'll pay income tax on the full amount plus a 10% early withdrawal penalty. So if you pull out $30,000 to pay off credit cards, you'll owe roughly $7,500 to $12,000 in taxes and penalties (depending on your tax bracket). You just turned $30,000 in credit card debt into $30,000 in credit card payoff plus $10,000 in tax debt. That's not progress.
But the bigger cost is the lost growth. That $30,000 left in your 401k for 20 years at an average 7% return would grow to roughly $116,000. You're not just spending $30,000 today. You're spending $116,000 of future retirement income.
There is one narrow exception: a 401k loan (not a withdrawal). Some plans allow you to borrow up to $50,000 or 50% of your vested balance, whichever is less. You pay yourself back with interest, typically at prime rate plus 1%. That's currently around 9.5%, which is better than 24% credit card rates. No tax penalty as long as you repay on schedule.
But 401k loans carry risks. If you leave your job (voluntarily or not), you typically have to repay the full balance within 60 days or it becomes a taxable distribution with the 10% penalty. During a period of financial stress, job loss isn't hypothetical. It's a real possibility.
Better alternatives to explore first: balance transfer cards, debt consolidation loans, debt management plans through nonprofit agencies, or even debt settlement. All of these address the debt without sacrificing your retirement security.
The only scenario where touching retirement funds might make sense is if the alternative is bankruptcy and you're in a state where 401k assets are protected in bankruptcy anyway (they are federally protected). In that case, consult a bankruptcy attorney before making any moves.