The Angels talk about those people that are always looking for an angle or benefit before they do anything. We call these folks "opportunists".
The Angels talk about those people that are always looking to help someone in need. They help someone without expectations of reward or notice. We call these folks "angels without wings".
A good exercise is to write down, at the end of the day, all the people you helped today without expectation of reward. When you are at work, most of what you do is part of your package as an employee – including helping others. It is when you go beyond what the job requirements are and the help is truly needed, that you are successful.
The key to helping others is to ask whether they need help, and let them say 'yes' to give you permission to help them. Some folks do not want spontaneous help because they want to make sure that they cannot do it themselves, first.