Different food pantries have different storage capabilities. Some accept "any and all non-perishable items". Some do not have rodent-proof, insect-proof or damp-proof storage. Cans are always safe, heat-sealed packages are usually safe - but consult with the pantry for their top needs if you plan to supply frequently.

Check the expiration date on the item, and don't be the kind of jackass who hands off expired, dented, damaged or bulging cans you wouldn't eat yourself to a food pantry.

Oatmeal packets
Chocolate drink packets (e.g. Swiss Miss)
Breakfast bars
Small boxes of cereal
Pasta
Pasta Sauce
Canned vegetables
Canned fruit 
Pudding
Dry beans
Bags or boxes of rice
Vienna sausages
Canned meats (tuna, salmon, sardines, corned beef etc.)
Canned spaghetti w/meat sauce (e.g. Chef Boyardee)
Mac + cheese
canned soups, dry packet noodle soups
Boxed juices
Peanut butter
Tuna Helper
Canned stew 
Canned chili
Canned ravioli
Instant beverage mix (e.g. lemonade, Flavor-ade)