Is welfare immoral?

Let me preface this by telling you few things you don’t know about me. I care deeply for those that are down and out, and have volunteered extensively. I am the guy that not only gives the beggar a buck, but a handshake as well. I have qualified for welfare of various types many times, but the only government program I have utilized is the job service. So, keep that in mind while you demonize me please! Thanks!

That said, is it moral to take someone’s money, essentially at gunpoint, and give it to someone else? Does this not violate the freedom of the individual? Does this not rob individuals of the choice to give freely?