You can be involved to the degree that you desire and that you are able!
Donate diapers or children’s clothes or a few dollars for rent or other material items
Be part of a team that delivers items or someone who provides services to the family. Meeting the family will provide an opportunity for you to interact with the people directly served. It might be one time or it could provide a chance for the family to make a connection with you and other members of the church.
Provide a service to the family. Sometimes families need assistance with car repairs, home repairs, furniture, etc.