High protein energy supplements were also included for young Venezuelan children suffering from malnutrition.
Guaido maintains that Maduro's second term as president is illegitimate, citing the May 2018 election that faced widespread global condemnation.
Guaido, who has appealed to the military to back him, said the armed forces "have a dilemma: either they side with the people in need or with the dictatorship".
"Liberate the money that has been blocked and sequestered", said Maduro.
The Venezuelan president demanded that the U.S. stop its aggression against Venezuela, including both attempts to "suffocate our economy" and "the serious and risky threats of military intervention".
Guaido declared himself Venezuela's interim president January 23, maintaining that the constitution gives him that right as head of the opposition-controlled National Assembly because Maduro's re-election should be considered legitimate.
Guaido, who has the backing of some 40 countries, including the United States, is seeking to oust Maduro following a 2018 election that many have denounced as a sham.
He added that the Venezuelan military was degraded.
Whitaker said the US involvement stops at the Colombian border, where the Guaido-led opposition will be charged with distributing the aid inside Venezuela, a seemingly tall task as Maduro shows no signs of conceding.
"I'm sure that Moscow as much as Beijing is very aware of the situation in Venezuela, that Maduro doesn't have popular support, the he can't stabilise the economy. all the while holding the biggest oil reserves in the world".
He is trying to bring in food and medicines from the United States but the supplies are stuck in warehouses in Colombia because the Venezuelan military has blocked their entry. It's a message of humiliation to the people.
More defiantly, the socialist president contends that the aid is part of a USA -led coup against him, with a goal to colonize Venezuela and exploit its vast oil resources.
According to Mogherini, the contact group should first reach "a common understanding" on "a political transition process" for the South American country, and channel humanitarian assistance to Venezuelans in need. Venezuela has gone from being one of the richest countries in the region, to the poorest. Since Fiscal Year 2017, the United States has provided more than $140 million-including almost $97 million in humanitarian assistance, and approximately $43 million in development and economic assistance-to support the generous efforts of affected countries to host displaced Venezuelans. Several other countries - including Russian Federation and Turkey - are backing Maduro as the legitimately elected president, and have denounced Washington's actions as attempts to foment a coup.
And he said a first attempt to bring in the aid should be made next week. A Venezuelan migrant from Valencia State, Perez left her home 10 months ago in search of a better life in Colombia. They aim for "a peaceful solution and dialogue favorable for Venezuela". "Humanitarian aid now. United public outcry".