Is it white oak? Or red oak? With white oak, I would leave them as natural a color as possible. With red oak, I would stain them slightly darker.

It is red oak what color stain should i use would it look good with maple cabinets

Well, are your maple cabinets new and with a natural finish, not stained? You need to have someone prepare for you 3 or 4 samples of the red oak with various stains and see what looks best. We can look at pictures of the samples, along with your maple cabinets and let you know what we think. But, it's always hard to determine colors on a computer, so you need to be the final judge.

I had maple cabinets with a natural finish put in and have red oak hardwoods trying to decide if I should stain or not.

Take a look at stained samples, plural, as there are many stains from which you could choose.