I wouldn't characterize taxation as "stealing." There is in fact a constitutional motivation TO pay taxes - in particular FOR constitutionally recognized governmental purposes (c.f.
Article 1, Section 8 of the the US Constitution):
Article I
Section 8
- The Congress shall have Power To lay and collect Taxes, Duties, Imposts and Excises, to pay the Debts and provide for the common Defence and general Welfare of the United States; but all Duties, Imposts and Excises shall be uniform throughout the United States;
Where I think things get sticky is in how people define "general Welfare." Personally, I think the writers of the Constitution delineated their meaning of "general Welfare" in the detail they provided in the subsequent clauses of that Section. Others have taken a much broader view - some would argue a totally open-ended view of what "general Welfare" means and have consequently put forth and passed literally thousands of spending bills for just about anything one might imagine. And of course, whenever the federal government passes a spending bill, we, the taxpayer are responsible for funding it via the taxes the government levies upon us to pay for such spending. This is the crux of the matter - a whole host of differing opinions about the role and duties of the federal government.
Taxes are a necessary evil in any society - we need them to pay for defense (army, navy, etc.), fire, police, postal service, roads, etc. (Article 1, Section 8).
Now, whether the "general Welfare" necessarily includes paying for social concerns - "alleviating hunger", homelessness, etc. is certainly debatable. It's DEFINITELY debatable if such programs are the purview of the federal government over say, the state or local governments. Moreover, it's equally debatable whether such programs as alleviating hunger and homelessness are best done by governments at all - especially the federal government, whose record of alleviating anything "socially good" is pathetically dismal, at best (e.g. the "war on poverty").
So, I wouldn't expect debate on this particular issue to subside any time soon. But again, to characterize those who believe it is NOT the responsibility of the federal government to cure these ills, and by extension force all taxpayers to pay for such programs, as "stealing" is mis-characterizing their values - and frankly, in a fairly gargantuan way.