I wrestle with this too. I'm doing well financially, better than most people I know, and it's uncomfortable to think about that when I see friends and family struggling to stay afloat.
Admittedly, in some cases, it's due to their own questionable decisions (took out huge loans for degrees with low earning potential, chronically disorganized and late on bills, buying unnecessary shit on credit - the usual).
But I also recognize that I've had a lot of privilege in my life, and some of the choices that worked out the best for me were just dumb luck, not anything I can take credit for. I know people who work a lot harder than me, at far more important jobs, and don't get paid anywhere near as much as I do. I can't help feeling some guilt about that.
I want to help, and on a few occasions I've tried to. But there's a thin line between giving useful advice and coming off as condescending or preachy, especially when you don't know all the details of their situation, so I usually err on the side of keeping quiet. Just giving people money is even more of a minefield, although I've also done that a few times.
Ultimately, the best thing you can do is to be a responsible steward of your wealth. I try to live simply and avoid wasteful consumption, to be helpful and generous to my friends, and to donate to worthwhile charities as a way of repaying the good fortune I've had. And it really helps to have this forum, because it's one of the few places I can talk about this stuff openly.