Most of the time we are afraid to let ourselves get involved. We think of ourselves first before doing something. We first think of our own comfort. We ask so many "what if's" to preserve our own safety. I do heard of people getting hurt not because they wanted to be heroes or something but because they are concerned. Nobody asked us to be heroes. It's just a matter of choice. Either you step up to make a difference or you don't.
Reaching out to a streetkid makes a very big difference. Letting him know that you care means giving him hope. And giving him hope means creating an opportunity for him to grow up into a better person. That would mean lesser risk for him to grow up into someone you will regret later.