How to help strays??

I have stray cats living around my neighborhood. I bought a great book The Stray Cat Handbook it has a lot of great information in it but lately I've seen some dogs too. I don't want them to get hit by a car or starve obviously but I'm not sure what to do for them. Any ideas?

you could always leave food out for them but unless you want animal control to pick them up our have a place to keep them I don't know how to keep them safe from cars

you know now that i think about it when i call out to one of the dog she doesnt even look at me maybe she cant hear?

I do feed the cats. I have a reguar that has a nick taken out of his ear. That became his name. I'm going try to get him comfortable with me and maybe try and get him a home. Cats just seem easier to take care of than dogs. I guess because cats kind of take care of themselves.