Any possible family assistance?

So I’m sure some may have heard this before but what do families who are “too rich” for financial assistance but “too poor” to live comfortably do when they have a baby on the way?

We have been looking into WIC and other programs and don’t really expect to get qualified for anything however we would like a little help at least since we will have to be paying for daycare as well.

Are there programs that offer just a tiny bit of assistance in Houston or Texas in general to those who make slightly above the average combined income?