There was a study a few years ago that found that asking someone for help actually strengthens your relationship and makes them like you more. IIRC it was on workplace interactions. The basic idea being that if you ask someone for help, it shows you have trust and confidence in them and they get to feel useful, which people generally enjoy.
Obviously that's going to depend on the type of help. If I need help moving or with some mental issue, that's going to be a more appreciated ask than if I ask for money. Not that asking for money is always a bad thing, so long as it's a legitimate need and doesn't become a habit I think most people would be happy to help out a friend low on cash. It's better to get financial help from friends and family than from some predatory payday loan that is designed to keep you in debt for the rest of your life.