Taxing the rich to help the poor afford rent or food is the opposite of stealing. As morally resources well beyond need belong to those unable to afford basic needs, if the rich have well beyond what they need & others are starving, not giving the poor what's theirs is stealing

This is a consequence of 7th commandment (8th for Protestants) which forbids taking what is justly someone else's. In a society well beyond subsistence like ours, every person is due to the necessities of life in justice.
http://w2.vatican.va/archive/ccc_css/archive/catechism/p3s2c2a7.htm

Now, this is obviously not to justify every government program. Many are wasteful & a few are immoral. However, it is a shame that the richest country in the history of the world has people starving & people homeless.

Also, theoretically this could happen all via the rich freely surrendering money to the poor. However, moving to such a system would take time & the wealth gap has expanded in recent decades.

Obviously, not everyone is starving but the USDA category for the most food insecure - not eating at all 3+ days in the past month - represented about 1% of the population in 2018 (I fear it's increased during covid shut downs). We must do more for this population.