Sociologically speaking, we have decent evidence that eliminating privation can break generational cycles of poverty. Our own (broadly successful!) attempt at it is still within living memory, as is its dismantling[1].
You're also pinballing between "the government needs more money to give to poor people" and "we should just take rich people's money because it makes poor people feel bad that some people are rich and it will make them feel better if the rich aren't so rich". Does the government actually need the money or not?
People might be temporarily helped by handouts, but they won't rise out of poverty until there's work available for them to support themselves. That is hampered by discouraging investment in productive enterprise via excessive taxes.
We could instead work on ways to make poor people richer, which would actually make their lives better instead of making someone else life worse, and would also reduce the wealth gap. Somehow none of the “tax the rich” crowd seem interested in that.