I say guarantee basic services (phone, basic cable, broadband), basic accommodations (place to live, food), and basic health (medical insurance) for those who need it. Provide life and job skills classes open to anyone who wants to attend. Make state university free of charge for those who qualify (via academic track record and testing), vocational training (plumbing, culinary, whatever) free for those who don't qualify for university.
Spread the housing across a given community, rather than concentrating it in one place, to prevent things like a project mentality and generational poverty mindset.
It would be vastly less expensive than the costs we pay for police, prison and emergency services, safer for everyone else, and overall reduce human suffering.
Most people would be happy to work an actual job and pay taxes in order to have "better than the bare minimum" for all of the above and the ability to do things like have food that isn't just staples, go on vacation, have more living space, etc.
For people who don't want more, or who can't work for more, at least this would keep them off of the streets to some extent, and keep them from getting so desperate they resort to crime just to survive.
I have zero problem with my taxes going to pay for such things because, not being an idiot, I'm aware that the alternative (what we have right now) is VASTLY more expensive by pretty much every metric.