I don't see that money can be scrapped altogether. Even if you dispose of coinage there's still a price.

I do believe though that it would be possible to make, say, bread and milk free to everyone everywhere. State owned herds and the farmers paid by the state (through taxes).

It would obviously have to be completely global though. People would not abuse the system, because there'd be no point. Why pick up 10 loaves and 500 pints of milk when there's no resale value in it? People would (on the whole) just take what they need.

That would take care of a chunk of most peoples basic needs.