Stray/Outdoor/Feral (?) Mama cat and kitten

A couple of days ago, I heard loud meowing outside my place  and when I looked outside I saw a tiny kitten running around the sidewalk and street. I immediately went outside, and then, realized I had no idea what to do in this situation. Did it have a family? Is it a stray? Did it belong to someone? The kitten looked around 6 or 7 weeks and was running away or hiding when I got too close. I went back inside to get some wet food that I thought it would like (fancy feast), in hopes to lure it, but didn't have much luck. So, I left the can nearby and also, scooped some of the food onto the floor (in case the can was uncomfortable/foreign to it). When I came back 5 minutes later, I saw an adult cat eating out of the can, with the kitten nearby eating the food off the floor. After observing for a bit, it looked like the kitten was following the adult (mama?) cat around. It was running and meowing around all over the place, but it kept coming back to the mama cat. I ended up giving them 3 cans of 3oz fancy feast. I even got to very lightly stroke the mama cat's fur as I was giving them food.

I can't quite tell if they belong to someone, are feral, or are being taken of someone in someway, and what I should do in this situation. They're definitely skittish around people. Both the adult cat and kitten were very cautious of me as they approached to eat the food I placed next to me. Any sudden movements I made made them run back right away. If they're feral, I feel kind of bad at the thought of separating the kitten from it's mom.. I haven't heard the kitten meowing since that night, but it seems like they're likely local to the area. Do I continue to leave food out for them? Do I try to trap them so that I can take them to a shelter? I can't be too sure, but I think I may have heard other meowing (from more kittens) somewhere close by, I feel like there may be more than one, but I have no idea where?

Whoever they are, it seems they are willing / asking to got help.

Are you willing?  More then leaving some food, and or take them to a shelter?

Kittens that age arent usually pts, but still haveing YOU as their quarantee is the best.

Also, they are now in a good age to be fostered.  So this way or another, its good to plan on taking them in.

Momma needs spaying if she is ferale.

But as she accepted some stroking, its not sure she is truly ferale, probably got dumped when she got preg or in full heat. / got astray when in heat.

Anyways, good you try to help them, and what to do more exactly, depends on how much you can and want to help them...

Hmm, well, I already have 2 cats; one was a stray and the other was adopted. I really can't take in any more cats, but I'm willing to help them within my abilities otherwise. I can't quite tell if they have a "nest" or any place where they sleep/frequent. I haven't seen the kitties again since that night.. so I'm not sure how to find them.

They definitely have a nest where they hide and sleep.  They like to be under tight spaces like under decks, sheds, and porches where dogs can't go.  When they travel, it is usually after dark and they try to stay next to houses or under cars.  I would go to where you last saw them after dark with some stinky wet food.  Bring headphones because you may be waiting awhile.