How about going to a nursing home or assisted living facility and making some seasonal decorations? Talk to the activities director and see if there is a group of high-functioning residents who could benefit from working hand-in-hand with the local Brownies to make some window decorations or hanging paper chains with cut-outs of fall leaves, or spraying real leaves with paint to make silhouettes? Or team up with the Senior Center (high functioning people with no scary oxygen equipment) to create something for the center or to deliver to a nursing home? Snowflakes are a classic but you could do cornucopias and pumpkins and Indian corn. If you go to the library you can find a whole bunch of "old fashioned" craft books that show you how to do all these things with step by step directions!
Singing songs for nursing home residents?
Thank you notes or poster for firefighters or police? Maybe combine with a tour of the fire station or police station? Fire safety and bike helmet safety can be reinforced by the professionals and a thank you can come from the kids. A tour of the ambulances can help ward off anxiety should a child ever have to be transported herself. If you can't get there yourself, invite the fire fighters to come to you and bring an ambulance. You'll need a back-up plan in case of emergency of course but it's worth a try.
If there is enough adult supervision, you could try some fleece quilts (little or no sewing) to provide afghans for the elderly or comforting blankets for children being transported by ambulance.
I'd go easy on the food drive right now - everyone's doing it, from Scouts to offices to churches to letter carriers. Re-schedule that for May when kids will be home from school all summer (and away from subsidized school lunches) and when everyone else's donations drop off and pantry supplies are perilously low. The pantries don't need your troop at Thanksgiving when everyone else is doing it, actually. I know it's the season when people want to do that, but it's also a good season to remember that the elderly are stuck inside in cold weather and many don't have family to visit them.
Litter pick up and leaf-raking near your meeting site. Post a few signs saying "This section cleaned up by Troop 123" for publicity and to encourage other groups to help out in other areas. Or try bulb planting - maybe a local garden center will donate bulbs for you. These can be planted with bulb planters and plain trowels, easy to get to your meeting location.
Toy and toiletry drives for shelters. See if your police domestic violence officer will come and give an age-appropriate talk about not standing still for violence. Let the kids know there are places where kids can be safe. Also you can ask a dentist or two to come in and talk about dental health (proper flossing, importance of brushing, blah blah) and bring in some sample sizes of toothbrushes and toothpaste to donate to shelters. See if local hotels will contribute shampoo and lotion, then the kids can make little hospitality/welcome baskets (get baskets from the dollar store or see if you can get donations), then assemble and wrap in a little clear cellophane (available at party stores) and tie with curling ribbon. Little hands can do this and not much dexterity or creativity is really required. Make gift tags that say "Donated by Troop 123", punch a hole, and tie to a piece of curling ribbon. This would be a good place for used books and clean stuffed animals too. Since you can't visit the shelters anyway or even know their locations, maybe someone from the shelter network can come and collect the baskets (and give you a wish list ahead of time), then the kids can help load things into her car and take a picture to send to the local newspaper.
Collect used toys and games for group homes for kids needing to be removed from their own homes. You'll have to deal with sensitivity of course. Also, if there is a social service agency dealing with new Americans, they may need household items. Same thing with families formerly homeless who get their first apartments - they need everything and it's a good time for families to clean out their good-condition-but-no-longer-used items. Contact the agencies first to find out what they need, and give families a wish list. Kids can go to their own neighbors to ask for donations or put a collection box on their own porches.