If you are asking about voluntary welfare (vs. forced welfare), it is called insurance and/or charity. There is nothing new. You setup your own rules on how you distribute income and those who like them and like how you do your job, will give you money.
"Welfare" without violence is nothing different from any social activity. It has special name only because there is coercion which must be hidden under promise of "well being for human beings".
In voluntary community (e.g. in anonymous networks where kicking ass is impossible), such words as "welfare", "social security", "government", "law" lose any original meaning and purpose. You just have agreements (contracts), reputation, risks, demand and supply of services. Even "for-profit" and "non-profit" distinction is meaningless if you don't have taxes to pay.