Meaning

verb specify as a condition or requirement in a contract or agreement; make an express demand or provision in an agreement

verb give a guarantee or promise of

verb make an oral contract or agreement in the verbal form of question and answer that is necessary to give it legal force

originFrom Latin stipulātus, perfect active participle of stipulor (“to demand a formal promise, stipulate”), see -ate (verb-forming suffix).

Etymology from Wiktionary, CC BY-SA 3.0