Is there a theorem in Differential Geometry for surfaces can be deformed without stretching?

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I'm an amateur mathematician who is keen on self-studying DG. I want to know if there is a theorem in DG that proves that surfaces can be "continuously deformed" without stretching, from one surface to another, without changing the intrinsic geometry? Is "continuous deformation without stretching" possible for any arbitrary surface? If not, what intrinsic property of a surface dictates that it is not possible?