Most hospitals (and even some doctor's offices) have a "charity" form available for people who can't afford their bill. You just fill it out with all of your circumstances, and sometimes, you are required to only pay a portion of your bill. Sometimes, they completely forgive the bill. At the worst, they will usually set up a payment plan, even for a very small amount per month. We've done that before with a deductible payment. I think we owed $250 and only had to pay something like $25 a month (and that was what I told them I could pay - that wasn't what they told me I had to pay) until it was paid off.
I second the angel food suggestion. There are no qualification procedures, and no income requirements. You don't even have to register or anything like that. You just fill out an order form and turn it in with your money on a designated day and then be at the pick up site on the distribution day on time to pick up the food. The food is good quality, not dented or grocery store rejects, and one box is supposed to feed a family of 4 for a week I believe.
If you belong to a church, speak to your pastor about any programs they may have that would help. Our church has a program for people who are in need on occasion where they send out an email to all the people signed up on this particular distribution list for whatever the person needs and the people who can help them do.
Join your local freecycle group (www.freecycle.org) and watch for items that you can use for your family rather than having to spend money on them. We've given out practically a whole house full of furniture on freecycle and have received several useful items for free as well. I've seen people give formula, diapers, even cars on occasion.
You are a hard working mom doing what you can for your kids and you yourself said you have a good job that pays well so there's no way you are a "loser" just because you're finding it hard to get by on what you have. This is an age-old problem that many people face daily so you are definitely not alone. There are some things you can do to make your situation better. It just may take a little time and a lot of ingenuity. If you have faith and pray for help and guidance, in my experience, things always turn around eventually.
Good luck and God bless!