I lived in vehicles for 9 years, so don't get self-righteous or white-knighting. It is cruel to criminalize poverty, and it is cruel to "benignly" neglect homeless people with a lack of services, treating them like criminals in the assistance programs, offer a troublesome patchwork of charity resources rather than integrated delivery, and give only a pittance of assistance instead of doing what is cost-effective and humane to get people into better situations holistically and comprehensively. Mental healthcare including psychiatry, social skills training, and therapy, substance treatment, nutrition, and good medical care are just some of the essential aspects of raising people up.
The US typically has an awful and abhorrent track-record when it comes to delivering necessary social services. For example, in Santa Clara County, an average homeless man without Social Security can expect to receive ~$149 in almost cash and ~$205 in SNAP (previously known as a "food stamps"). The ABAWD requirement comes-and-goes periodically with mandating work in order to receive benefits. (How can a homeless person hold a job if they don't have shoes or the resources to clean themselves?)
Healthcare is provided by substandard Medi-Cal (Medic-Aid) which now includes slightly less horrible dental services (Denti-Cal).
Cell phones are provided by the Lifeline service.