Seen one too many guys crying on the side of the road. How to help?

I was driving down the gulf freeway and I saw this guy collapse in tears in the emergency lane a little ways away from his truck. Not too long ago, I also saw this guy crying alone on the curb of a busy road by HEB.

What is the best way to get help to them? Is there a number to call that'll help them get through whatever it is they're going through?