If the government prints the cash, why must we pay with our hard earned cash? cant they just take what they need from the factories (or whatever money is printed in)
The government DOESN'T print the cash. In the US, money is printed by the private banks which make up the Federal Reserve. The money that's paid into the Federal Income Tax does not go to the government, but to the owners of the privately-run, privately-owned Federal Reserve system (which is "federal" in name only). It's a big con game that the people have accepted without question. The private bankers print the money, charge interest on that money (which costs virtually nothing to create), then tax half of it back from you from your labor. That is how their system works, and it works quite well for them when the public only questions what they're told to question. Now watch Mr. Government Shill (aka Pepik) come in here and tell me the Federal Reserve isn't private because the president appoints the chairman (from a list the banks provide to him, of course. In actuality, he is told who to appoint).
Economics is a very complex thing, but basically if the government just printed and took the money it needed it would cause massive inflation. Take for example after WW1, the Weimar republic(Germany) to try to pay off the massive war debt it owed to the allies just kept printing more money and at it's worst point in 1923 $1 German mark was trading for nearly $1 trillion US dollars. Also as a capitalist society, the government for the most part doesn't own any factories and such and like the private market has to buy what it needs. This is where the term war profiteering comes from too, people and companies making a ridiculous amount of money off the government because of the fact there's a war going on, either by overcharging or just plain making money due soley to the fact of war.
If the working man wants a government to control his society he has to be willing to pay for that service, that is why taxes will always in a way be a necessary. It's when he allows that system of payment for services to become corrupt (forces some to pay the biggest burden and the rich to get a free ride) that the whole thing turns into a mess. Taxes in and of themselves are not evil. Corruption is.