Charity to the poor and needy is a biblical moral obligation. Charity extracted at gunpoint by the IRS is not really charity.
I find both an individual mandate to help the poor as well as a mandate to government to help the poor in scripture.
Dan 4:27 Wherefore, O king, let my counsel be acceptable unto thee, and break off thy sins by righteousness, and thine iniquities by shewing mercy to the poor; if it may be a lengthening of thy tranquillity.
Pro 29:14 The king that faithfully judgeth the poor, his throne shall be established for ever.
Jer 22:15 Shalt thou reign, because thou closest [thyself] in cedar? did not thy father eat and drink, and do judgment and justice, [and] then [it was] well with him? Jer 22:16 He judged the cause of the poor and needy; then [it was] well [with him: was] not this to know me? saith the LORD.
If "We the people" want to reign, we can not turn a blind eye to the poor. That's not saying that our programs couldn't be run more efficiently, have more incentives to discourage laziness, and eliminate much waste and corruption.
There are those that point to the waste as an excuse to claim all aid should be ended. And then there are those who claim all aid is wrong whether or not there is waste. Both are wrong.
Rom 13:6 For this cause pay ye tribute also: for they are God's ministers, attending continually upon this very thing. Rom 13:7 Render therefore to all their dues: tribute to whom tribute [is due]; custom to whom custom; fear to whom fear; honour to whom honour.