I know that after Jesus was born the Three Wise Men gave his family Gold, Frankincense, and Myrrh all while saying that he was the prophesied messiah for the Jewish people. Jesus's father, Joseph, was also a descendant of King David while Jesus's step father was related to King Solomon.
With that said how did Jesus still grow up poor? It just doesn't make since to me, surely the Gold, Frankincense, and Myrrh alone were enough to make his family a little wealthy.
I can not answer for the Jesus of Christianity, /u/husky54 or /u/koine_lingua might be able to help with that part and their answers should (hopefully) at least to some degree correspond with what I can tell you about the historical Jesus.
Jesus is usually said to have been a carpenter and the son of a carpenter, this is however not entirely correct. Jesus was actually the son of a τέκτων(tekton) (Mathew 13:55, Mark 6:3 etc). A tekton can be a carpenter but he doesn't have to be. The root word for tekton is the same one that words like technology, technician etc comes from and usually includes a broader range of craftsman that might, for lack of a better word, have been considered the engineers of the ancient world. Professions usually included in the word tekton are things like builders, masons, carpenters, metal workers etc. In either case, Jesus and Joseph were considered skilled craftsmen.
So what does that mean in the region at the time? Well, truth be told we can't even say for certain that Nazareth existed at the time, we do however know a little bit about the surrounding area. Nazareth was not far from Sepphoris, a significant town at the time. Right around the time of Jesus birth, Sepphoris had a bit of a misunderstanding with Roman authority and the town was destroyed (how is a little unclear, Josephus says it was burnt down but that is probably not true as archeological evidence does not support it). What we do know is that the town was rebuilt and that this was done in a time when skilled craftsmen were relatively rare in the region. These two pieces, when put together, means that Joseph was probably not poor. Work for a tekton would have been relatively abundant, even more so with the reconstruction of Sepphoris going on only an hours walk away.
Was Joseph, and through him Jesus, poor? Historically speaking, no, probably not.
Jesus the Galilean: soundings in a first century life - David A. Fiensy
Archaeology and the Galilean Jesus: A Re-examination of the Evidence - Jonathan L. Reed
The Archaeology of Ancient Judea and Palestine - Ariel Lewin