Yes.  Socialism could work if it were voluntary and people weren't mooches.

Back in the 1800's The Church of Jesus Christ of Latter-Day Saints (Mormons) experimented with a voluntary form of it called "The United Order"

In a 1966 speech from one of the old LDS church presidents, he points out the key differences between The United Order and Communism/Socialism.

1. The United Order is 100% voluntary.

2. You can leave the United Order at any time.

3. You only donate your excess to the United Order, instead of everything being taken from you, like in communism.

4. You own private property in the United Order, unlike communism, which seeks to abolish private property (and seeks to abolish other forms of perceived "capital" such as earned standing, status and earned glory)

4. The United Order is under God's laws, not man's laws. (Being voluntary is evidence of this)

Here's the speach:
https://latterdayconservative.com/articles/is-socialism-the-united-order/