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For things like welfare (and almost certainly for UBI, though I doubt there's enough empirical evidence either way to be sure), yes.
Things like education subsides (assuming they subsidize professionally relevant education rather than just signaling, which admittedly is a somewhat dubious assumption) and the EITC (basically a negative income tax for the working poor in the US) could very well increase the labor supply.
That would increase incentive to work for the poor, but decrease the incentive to work hard enough to stop being considered poor. They can't have the income tax be negative for everyone.