We are all part of a community. Whether it's a family, a circle of friends, a neighborhood, a city, a state or province, a country, or a world, everyone else is part of the human condition. And a good community cares for those within it in need.
Caring for those who need it, however, does not mean pushing personal or ideological views on someone, or making acceptance of such a requirement to receive help. That's not caring, that's coercion, and it actually harms more than it helps in most cases. Remember that everyone has a right to their individual beliefs, and you should be helping those who need it regardless of whether those beliefs align with yours or not.
Respect for others is the first sign of caring. Offering assistance with no strings attached is true caring. It could be financial, it could be material, it could simply be a shoulder to lean on, or a kind ear to listen with. Every situation will be different, and there isn't any "one size fits all" process that can be applied unilaterally. Trying to do that turns caring into an impersonal process, and that's kind of the opposite of what caring is supposed to be.
So help those who need it as you are able. But do so with respect and an awareness that they may be embarassed, or angry that they need help. They may refuse altogether, and that's okay as well - at least you made the offer. Hear them, respect their choices, offer them assistance, and care for them regardless of whether their beliefs mesh with yours or not.