Milton Friedman actually had a very interesting idea with his "Negative income tax" which resembles a UBI (universal basic income).
Poor people need money, poor people will get money from the government.
Knowing these two unchangeable truths (I know there are people fighting for cutting all entitlement spending...that's never gonna happen...nobody is going to stand for living in a society that resembles the depression era), it makes more sense just to cut them a check directly, rather than prop up agencies (and all of their associated costs) to act as the proxy in cutting them the check.
Or a simpler way to put it:
It's cheaper for me to give a poor person $500, than it is to pay someone $250 to give a poor person my $500.