Is there a way to drop a lit torch in my house?

There is a bug,

Have a living person holding a lit torch, then kill him while he is holding it lit. The torch will be lit when he drops it and when you drop it, but make sure to kill him in one hit or he will put the torch away and draw weapons.

I've been experimenting with dropping torches (Don't ask), and it seems there is a bug. The first time I dropped them, 69 were in an unlit stack and two more were lit and not stacked. Picking them up and dropping them again caused them to consolidate into a stack of 71 unlit torches. Try gathering more torches and see if some of them end up being lit upon dropping is the only advice I can offer.

If playing on the PC or Xbox One, there's a mod that allows you to drop lit lanterns and place them wherever you want: Wearable Lanterns (original / Legendary Edition - PC) / (Special Edition - PC) / (Xbox One).