Teaching children about prayer and outreach as a family.

I have often thought that I want my children to learn how to care for others through prayer and also through acts of love and kindness. I found a wonderful very fun example of how to teach them to lift others up in prayer. We used a craft idea from pinterest and created out own "Prayer Pail" that we have decorated and put in the center of our table. We use this to choose a name of someone to pray for each day. The kids and I pray for the individual or couple at our meal time.
I believe that this will teach them to remember others at meal times to pray for them and to lift others up in prayer and not just their own needs or wants.

I have to admit I have struggled with how to teach them to care for others with their actions in a way that is planned and something that they can carry out. The simple things come to mind like making cards or crafts for others. However, I am looking for more...
Our church has teamed up with an elementary school in our area, in which there are several homeless families represented, and have begun sending backpacks filled with food for the weekend for the children and their families. This has been a wonderful event that my children can participate in by helping to pack the backpacks with the donated food during the "packing nights". I have also enjoyed taking them to shop for food for us to donate to the children who do not have as much as we do. That has been a wonderful learning experience for them.
I have also been wondering if there is a way where my almost 6 year old could help me read books to elderly people or people with disabilities so that she can learn about a broader scope of people with needs and ways we can show God's love to them in many ways.
It is my hope that this summer and into the next school year (in which I will be homeschooling my 6 year old) that we are able to become more involved in an organized outreach or our own area of outreach for the purpose of caring for others and showing God's love.
I welcome any suggestions people have for outreach ideas to do with young children.