When customers tip, and total wages in the tipped jobs are thus higher than in the non-tipped alternatives, workers will change jobs until expected total wages are about equal.
What works in other countries, eg Japan or Australia, is that different social norms lead to much less total tipping. But you can't transform eg American into Japan or Australia at a whim.
It's up to customers to make tipping the exception and not the norm. But that's hard: because the individual tip goes directly to that starving poor devil who served you and has a relatively big impact on their life, but only a very small impact on workers' expectations when changing jobs, there's a 'tragedy of the commons' going on: each individual tip you give provides you with a nice warm fuzzy feeling of altruism, but it damages your total goal of having decent base pay.
So, it's very hard for individual customers to change that. But: individual employers can drive change. They can forbid tips and prominently display that they do so, so that both prospective workers and customers now what they are in for.
Prospective workers will demand higher base pay. Customers will take the lack of tip into account when comparing prices.
A Google search for 'restaurant bans tips' shows a lot of write-ups about experiments. It's not a panacea, of course.