Hi Davis,
One thing you can do is reach out to your local public library and find out if they would be willing to work with you on setting up a demonstration geared towards engaging kids in science and technology. If your library usually does special readings or programs for kids, you will already have an excited audience to attend your demonstration, and depending on the space available you may even be able to let kids drive (my warning about letting non-team members driving a robot in a public space is to always have an attentive team member holding a kill switch ready to stop the robot if it looks like something may go wrong, it is always better to be safe than sorry when it comes to a child controling a 120 pound robot).
My team does a lot of community service work and We have done events like this in the past with great sucess . Seeing the looks on the kids faces as they see the robot for the first time is unforgettable
I suggest bringing flyers about FIRST, FRC/FTC and FLL with you to hand out to any interested parents or teachers that you may meet.
Good Luck with whatever project you decide to do and if you ever need any help with understanding the logistics of organizing a community outreach event ( ex. parades, school demos, mall demos, library demo, visiting retirement homes, offseasons, fll events, scout demos, etc ) Feel free to private message me
~Hannah