in the ideal market simply presenting a good business plan, even without any sort of a collateral would get other people's money thrown at it

Well, Silicon Valley functions more or less like this. Hedge funds can look like this, too.

Markets where only people who already have capital can engage in entrepreneurship end up with nasty outcomes

That's basically a counterfactual -- businesses have been able to borrow money for a very long time in human history :-)

In reality the situation is a mix: it's not quite true that "A bank will only lend money to someone who can prove he doesn't need it", but it's also not quite true that a solid business plan is all a bank needs to lend you money. Banks are sufficiently rational to want to have positive-expected-returns loans -- they will lend money if they think the loan will be good.

I also suspect that entrepreneurship is noticeably easier in the US than in Europe.