If you are asking for money, they can't necessarily help. They may not have it to give; or if they are a church with some money resources, they may be involved in other ministries and charities to which they have commitments of certain amounts each month so there is no excess for "discretionary funds."
You will have much more success getting help from a church that is not your own church if you ask them to help you locate the right city, county or state office that would handle your case, or if you ask them to help you locate a shelter or halfway house if that's what's needed. They will be glad to help you find resources. They also likely will respond positively to questions such as, "We don't have access to a car and my daughter needs to come home from across town, and a cab is something we can't afford. Could someone help us with one-time transportation, driving us from Rehab Building to home on XYZ street, on Aug. 2 in the morning only?" and so on. That's a concrete, specific and time-limited request that does not involve cash. Or if, for instance, your daughter is coming home but you lack things such as shampoo, extra sheets and towels etc. to move her comfortably into your own home, and can't afford to go out and get them yourself, you could discuss whether the church could do a one-time collection of those items for you. I hope you get the idea here -- be specific and limited in what you ask.
But asking for money is problematic. Even churches get scammed, all the time, and have no way to know if someone who requests money is going to use it for the stated purpose or for something else, and churches are required by their faith to be good and careful stewards of their money. If you need some bills paid, suggest that the church pay them directly to the organization that you owe -- payment directly to the utility company, for instance, to keep the lights on, but not cash directly to you. Those suggestions will make the church trust you more. But in the end, any church these days just may not have the extra resources to assist financially someone who comes out of the blue, unfortunately.
Be specific with requests; ask for help finding resources; and don't ask for money directly into your hand, and you are likelier to get help.