Sure! That’s called a universal basic income, and it is possible to achieve with taxpayer’s money. We just need to want to achieve it.

And, you’re pretty likely to still want (yes, want, willingly) to work even if your basic needs were met with a UBI. (I can’t be bothered to actually go search for a source on this but I’m pretty sure there was a study done on this topic that indicated so.)

Helping others isn’t something that is open to discussion. The only reason why humanity as a species exists today is because we are social creatures that can only exist in large quantities by helping each other. Early humans did it in the form of splitting up the group’s work, some would hunt, some would gather, some would look after the children and at the end of the day all food would be shared together. Everyone would contribute and so everyone could keep living. Today we do the same (or, at least, should be doing the same, it’s debatable if the current tax system is working very well.) in the form of taxes that pay for social services.