A tiny thing… next time your at that Whole Foods, pick up a package of plastic spoons, a bunch of pop-top single-serve canned foods, and a gallon jug of bottled water. It's not a lot. It's a single bag of stuff, costing maybe $15 or $20. Keep the bag in the back seat of your car for the next time you see a homeless person.
In the winter, keep an old, but clean blanket in your trunk. Give it to a homeless person when you see them in the parking lot. At the discount store, get a bulk bag of socks to keep in the trunk for the same reason.
If you have something already set aside for it, it's easier to let your heart give.