We have spent 28 trillion dollars on welfare, yet the poverty rate is unchanged over decades. The only thing that supports people is work, and we need to eliminate as many impediments to it as possible: over-regulation, payroll taxes, income taxes. Make huge cuts to welfare with the savings and streamline healthcare to provide cheap, basic services to every citizen (in line with disallowing citizenship by birth).
Then, regulate the supply of labour by barring immigration from poor countries (establish a liberal visa regime with countries in the HDI top 30 though, to allow legitimate talent to come to America). You have the recipe for a reasonable, modern life for any American willing to work. It could be a blueprint for the whole Western world.