For follow-up discussion and general commentary on the topic. Comments are sorted chronologically.
I love to give not just because the bible says so that's just in me, that's just who I am . But who do you give to, and how do you know the beggar on the street is poor ? Do you go with your feelings ?
You will need to use discernment, but err on the side of generosity. The good Samaritan, for example, helped the injured man even though he knew nothing of the situation. The 'religious' people walked on by as if the man did not exist. We do not have to know all the circumstances before we step in to help, but where possible, help should be accompanied by care.
We should avoid treating the homeless as invisible. If you get the opportunity, talk to them. Ask about their needs and their lives. As Peter and John said, "Silver and gold have I none, but such as I have give I thee".
You do not have to help by giving money, but you can give food, toiletries, conversation, etc. There also may be local missions you can volunteer with that have a framework already set up in which to meet the needs of the poor and homeless.