Doesn't it bother you when you stop for a red light and the homeless people come up to your car asking for money?
Not really, they don't bother me. Why do they bother you so much?
I hate seeing them have to beg for money like that, it makes me feel bad for them.
Feeling bad for others in their situation is normal. If you can help them out you should, but if you can't, you should not feel bad for it.
I want to help but I'm not sure what would be the best way to do it.
It's good that you want to help. Try to donate money to a local homeless shelter or organization for homeless veterans. They do a lot of good work and they need as much money as possible.