First we need a better system for resource allocation. Monetary systems are extremely inefficient, but it is far better than the “trust me, bro” approach of many of the alternatives.
A global post-scarcity society could in theory take over, similar to how it works in Star Trek, but there are a lot of other hurdles that need to be overcome first.
As long as proper distribution of resources requires an effort, it will also need an incentive to do so. Currently this is provided by having a profit margin, and while this does also provide a mechanism for skimming off the top, at least said skimming can be somewhat controlled by a free market ensuring better circumstances for those willing to skim less.