Dad here, I have both been the guy, and been the parent and in a safe area where you have some control basic human trust can be enough. I always ask/offer, try not to be creepy.
I often start off, with something like "I can sympathize, I have two myself, would you like some help? I would say 50% of the time they say yes, and the rest its a combo of fear or embarrassment because they think needing help is shameful, which it is not, your community exists to help and thats how humans did it for 100k’s years until the 1950’s ruined everything.