Resources to help the homeless?

As the title says. I was quite shocked seeing all the homeless people when I arrived in the USA last year. Strangely enough they now feel familiar and I try and share whatever groceries or spare money I have on hand.

However, there's this one lonely guy off dairy Ashford just after the turnoff from i10 who just…sits there all day. I feel so sorry for him, but then as I'm usually lugging 2 small kids around I'm also a bit wary to approach him. What can I do besides provide him with some hot food every now and then? I'm not familiar with any crisis centers etc I could take him to.