The many possible UBI structures that have been discussed in these comments and in the series by dantheman that I linked to above, all involve ways of setting up a UBI which do not include taking from one to give to another.
If there is a calculated inflation (like that of BTC, ETH, etc), and that calculation or some portion of it (so miners can still be rewarded for their energy) is split amongst everyone involved, then you have a UBI. No theft required.
My friend @akaskew is creating a permaculture farm design which will be easily repeatable, and one of the facets is that a portion of all profits will be divided amongst everyone in the nearby community (who choose to sign up for the program). Another option which does not involve theft.
Even in a state model (which I never advocate), many countries have nationalized one or more of their natural resources. If a country had, say, nationalized oil, they could take all the profits of that oil and split it among their citizens (as Saudia Arabia does in small ways, paying for college for males; or as Las Vegas does with casino profits). [Again, I never support a state option, just giving more examples.]
Personally, I know better than to think that money is any sort of limiting factor on my life, health, or happiness. Food is grown by sun, water, and soil, it doesn't come from money. Shelter is built by wood, clay, human energy, it doesn't come from money.
I am in favor of any changes (voluntary & non-violent) which will help the masses come to the realization that scarcity is an illusion, that we live in a reality of absolute abundance. I see UBI as one possible stepping stone towards that. Everyone knowing that they have enough to survive, to tend to their basic physical needs, allows them to let go of this fear that has been conditioned into them, stop being slaves in order to survive, and begin to focus on their actual purposes for being here.
Scarcity is what gives things value. If there is no scarcity, then you need no UBI to buy things with, because they will be as abundant and free as air! duh. Everything is scarce and finite, that's why you want to distribute the means to buy things. Even time is scarce, we only have so many years of our life, and working hours in a day. Sure the world is big. But we must take our scarce labor, to develop those abundant resources into usable products (food, materials, etc.). Do you really sit outside and wait for the sun and soil to grow food for you? It takes a lot of labor and tools just to grow your own food. Money is what makes peaceful trade possible and it provides a measure of productive value and efficiency (prices). Without money, it would take you months to build a home, and you won't find any insulation, electronics, HVAC, or TV's to forage in the woods. Your goal for people sounds like something for nothing, not for me, I'll continue to earn my way thank you. If you are worried about people just donate, don't cop out ask that someone else do it.