We have had several situations here. One neighborhood found a family with two preteen girls living under a bridge (very obviously homeless). Long story, gave them all the info to get help and got a counselor involved and the police. Found them shelter and such. Many people worked on this and one many got to know the family. However, there was some issue that prevented the family from showing up and taking advantage. They disappeared. We speculated on what was the reason and felt so bad for the kids but will never know.
We also have a family that panhandles around town at various corners with one or more kids in tow. Talked to the police and they will check and call CPS if necessary but the police told us it is often not productive. In most instances, it is purely a money making effort (like a dog in tow) since those with kids get first priority on help.
Keep written info in your car on services available in your area to hand out. I think you will find that most only want money.