Check out the video between 7:28 and 7:40 "we had the highest growth in capital and productivity and in the economy in general in the 40's, 50's and 60's when we had much higher taxes." (Numerous studies show that to be the case.)
So, if there is a correlation between taxes and growth then it's obvious it's better to tax. If there isn't a correlation between taxes and growth then the extra taxes will not harm the economy and the extra money can be given to those in need.
Sounds like a win-win situation.