This is a difficult one, if it's small items , shopping etc given to a friend or relative who you know needs it there shouldn't be a problem. However be careful with larger items especially if they have a sensitive partner, things like your old TV or sofa, some people have excessive pride and will refuse.
I do remember many years ago my Grandparents had a farm with dairy cows and whenever there was a new baby in the village Granny would alway offer the new mum a can of milk each day. It was of course always accepted but it was done in secret, Grandad would not have approved!.
Our Welfare State. Is it broken?