It’s okay to ask someone if they need help, but it’s much better to just jump in and start doing the actual helping part without being told what to do. It’s usually not too hard to see something that obviously needs attention, so why wait for permission to do it?
Now mind you I’m not advocating that you attempt to do things that are beyond your scope of expertise. But even if you are an actual rocket scientist chances are you’re still waist deep in work that could be done by anyone with a brain and two hands.
If someone is drowning you don’t ask them if they need some help.
You just jump in and fucking help them.