In parishes that have a Legion of Mary, they are sent out two by two for various reasons. The pastor gives them names of those members of the parish who are housebound, or temporarily housebound and would appreciate a visit.
Sometimes he sends Legion members to an assisted living residence and they are given names of Catholics and they drop in and chat with them, give them some prayer folders, holy water, and visit with them for a while.
In other instances the pastor sends them to apartment buildings where non-Catholics live, and the members knock on the door and ask if they would like a holy card with the picture of Jesus on it. Most of them were Baptist, but did accept the picture and holy water as well. If they had questions to ask we would have answered them.
As I was a member for about five months, until I could no longer attend meetings, I experienced all of the above. So, my point is that it can be done, and perhaps if someone would plan with several parishioners, with the help of the pastor, such things could work! And being invited to a meeting at the parish hall where questions could be asked is a great idea. Before RCIA began they used to have Inquiry classes at my parish.