I always offer a soda, sports drink or water. Most of the time the delivery people will say no, but when they are hauling stuff I figure its the least I can do.
I have asked delivery persons to do move other things besides moving the object they delivered. For instance when I got a couch delivered I also asked them to move my television downstairs in front of the couch. Now it was a big screen and I was on crutches at the time (big suprise), but they obliged and I gave them $20 for about 10 minutes of extra work. I might be in the minority but I am a chronic over-tipper and I tip people for doing nothing more than their job, but maybe I feel the need to help someone for helping me.