It just boggles my mind that they make more money then people working .
Well there are intrinsic values in being gainfully employed and other benefits at least at most jobs - not all jobs may include each benefit but some I can think of:
Personal pride at working and earning an income as a result
Contributing to the betterment of society
Potential to move up and earn more money
Opportunity to train, learn a trade, gain real life working experience
Health care, 401k, tuition reimbursement, child care,
Not being afraid of being arrested for "panhandling", loitering
Not being afraid of having people put you down, get beat up or having someone try to steal your panhandling money
So if you think that panhandling is worth it - nothing is stopping you. Go for it.