Offering free food to random people as a kind gesture, without being condescending or strange
I recently watched a YouTube video of a person who was handing out free food to random people - donuts, iced coffees, etc. - and so, inspired by this, I bought an ice cream bar last night for a homeless man who usually sleeps at the church near our home. I'd like to do this again but I'm concerned that my approach could be strange or even condescending, as I've heard that sometimes people, whether homeless or not, do not like to be offered free things. To be clear, the food that I am looking to give out is not leftover food - it would be fresh food, bought from, say, a donut shop, or a coffee shop. How can I give out free food to people as a kind gesture but in a way that minimizes the risk of being rude or condescending? For reference: West Coast city, United States.

I recently watched a YouTube video of a person who was handing out free food to random people - donuts, iced coffees, etc. - and so, inspired by this, I bought an ice cream bar last night for a homeless man who usually sleeps at the church near our home.
I'd like to do this again but I'm concerned that my approach could be strange or even condescending, as I've heard that sometimes people, whether homeless or not, do not like to be offered free things.
To be clear, the food that I am looking to give out is not leftover food - it would be fresh food, bought from, say, a donut shop, or a coffee shop.
How can I give out free food to people as a kind gesture but in a way that minimizes the risk of being rude or condescending?
For reference: West Coast city, United States.