Ideally, it would follow something like the following model:
Each tax paying adult gets $1200/mo (or do it as a minimum wage equivalent) and is removed from social service programs that they are currently enrolled in.
Each child gets $500/mo to be put into a trust in the child's name, with an additional $500/mo in "cash" so the parents can support that child.
When the child turns 18, they are handed the keys to their trust and they start out life with enough money to support them while they either look for a job, can get an apartment or a home, and/or pay for college.
This won't put up anyone in any kind of luxury lifestyle, but would encourage people who want more, the opportunity to work to pay for the luxuries.
I've known plenty of people who are in poverty, and almost universally, they want to get to of that state, but 90% of their time is working multiple jobs to just meet their current obligations, let alone extra to give them the freedom to seek further training so they can get a better job which pays more.
Now certainly there are going to be people who will simply stop working, or will try to abuse the system, but we have that now, so I don't believe those numbers will increase. Even if 5% of people simply stop working, it props up the remaining 95% so they aren't starving to death and/or are homeless.
I think that anyone who argues that because _someone might_ abuse the system, or that it isn't perfect, that it should't be implemented. If that were the case, nothing would ever get done about anything. Ever.