Can a vocalist/lyricist take lyrics written with one band to another?

Is a vocalist/lyricist allowed to take lyrics written for a song with
one band and use them on another song with another band?

The vocalist came up with the lyrics for a song written by Band A,
then used them for a song with Band B. The lyrics were almost entirely
written by the vocalist, with Band A suggesting some words and saying
no to some lines and verses.

Is this legal, illegal, frowned up, common practice?