One approach I'd like to flesh out more is a "guaranteed income". We spend a lot on various programs, what if we just spent it all on this. You get this income guaranteed, the support declines as you work and earn more, but you still get some for a while. It ends poverty, simply. And yes, some would waste the money.
No welfare, no SNAP, no Section 8, no nothing, just send in your income statement and get paid, sort of akin to the income tax earned income tax credit.