I think Jessica Seinfled has a good program set up for this - try this:

http://www.babybuggy.org/

Value Village (thrift store chain) will come to your house and pick up donations on a certain day when their truck is in your neighborhood. You get a receipt for tax purposes too.

Try your local battered women's shelter. They usually pick up donations because the locations are private.

some pediatric doctors and hospital take toy donations. You can try Craig's list. There're volunteers for some charity organization who post there, or you can find needy family who need toys.

You could try a crisis pregnancy centre or an organization that helps teen parents.

I personally like the idea of donating items to an organization that gives them directly to families in need, rather than a thrift store (even if I like the cause that the thrift store proceeds support). In Boston, there's Cradles to Crayons, which provides toys, clothing, and baby/child supplies to families. I'm a child/family therapist, and our program goes through them to get items for our families. Maybe try calling local early intervention centers, head starts, shelters, etc. to see what the similar organization is in your area.

(Also, when people are talking about donating items to charities, I always feel obligated to remind people that the Salvation Army has a formal written policy of discriminating against our GLBT brothers and sisters, so please be aware of this before supporting them in any way.)