Yes, we are allowed to give money for beggars because that was Allah Azza wa Jalla and Rasulullah salallahu alaihi wasallam had taught us.
(Have you seen the one who denies the Religion? Such is he who repulses the orphan, and who does not urge others to feed the poor. Woe to worshippers, who are absent-minded to their prayer, those who make a show (of piety), and refuse to render small acts of kindness (towards others).) (Al-Ma`un 107: 1-7).
On another occasion, the Prophet (peace and blessings be upon him) expounded on the concepts of virtue and charity even more broadly:
"It is imperative on every one to render acts of charity every single day that sun shines in the sky in order to express gratitude to Allah for every single joint or faculty in his body. It is charity to restore peace between two people with strained relations, it is charity to give a stranded person a ride on his mount or lift his load onto it, it is charity to utter a good word, every step one takes towards mosque for prayer is charity, to remove litter or objectionable things from people’s path is charity."