While foods that have a long shelf life, like canned beans and rice, are welcome at food pantries, fresh fruits and vegetables from your garden or fruit tree are always appreciated! This Second Harvest Food Bank in Santa Clara, California, notes that they will accept fresh produce that is in good condition and has a shelf life of 3-5 days and free of mold and decay. Contact a food bank near you to find out if they accept similar donations.
If you live in Southern California and have a fruit tree (or trees) that you will allow volunteers to harvest, you can contact either Fast Forward or SoCal Harvest. Please note that they need a few months of advance notice, given the copious number of such fruit trees in the area.