The humanitarian aid strategy is the most recent battleground in the ongoing power struggle between Venezuela's acting President Nicolas Maduro and Guaido, who has been recognized by the US, Germany and a wide range of other nations as Venezuela's legitimate president.
The supplies, including hygiene kits and special products meant for children suffering malnutrition, are arriving from an air force base in Florida aboard C-17 military cargo planes, the US embassy said in a statement.
Additional aid flights will take place over the coming days, the statement said, and medical supplies and pharmaceuticals meant for use in hospitals will arrive early next week.
In a speech at the Munich Security Conference, Pence said Guaido, who has declared himself interim leader and has won USA and worldwide support to replace Nicolas Maduro, deserved that "the rest of the world" recognise him, and called Maduro a dictator who must step down.
Guaido spoke to a crowd of supporters gathered in eastern Caracas on Saturday and vowed to form caravans of activists to reach the border and bring in aid on January 23.
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Il se mesurera à l'un des hommes en forme du moment, Kei Nishikori (ATP 7), samedi dès 19h30 pour une place en finale. L'ex-no 3 mondial fera par ailleurs à nouveau partie des 50 meilleurs joueurs de la planète s'il se hisse en finale.
Millions of Venezuelans will be travelling to the border to safeguard arriving aid, Lester Toledo, a Guaido representative, said at a press conference in Cucuta.
Branson says the live-streamed concert will be at the Colombian border town of Cucuta where Maduro has blocked humanitarian aid from entering.
Trump plans to address the Venezuelan crisis during a gathering in Miami on Monday.
"We are seven days from this being a reality".
Saturday's shipment was accompanied by a delegation led by Mark Green, head of the US Agency for International Development.
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He added later: "Measures have been taken to stop it", tagging Twitter co-founder Jack Dorsey. Trump made the edited parody his pinned tweet on Twitter on Saturday.
Mr Maduro has poured scorn on the aid, spurning it as "crumbs" and "rotten and contaminated food" while blaming shortages of food and medicine on United States sanctions.
"We have to do something to save so many people who are suffering and dying for lack of medicine", she said.
About 2.3 million Venezuelans have fled the country since 2015 as the crisis intensified, according to the United Nations.
It is paid for, he said, stressing that Venezuela is not a "beggar" and its economic conditions will improve.
Scores of Venezuelan officials also face personal financial sanctions in the US. Last month, the same authority banned Juan Guaido from leaving the country and froze his bank accounts after the president of the opposition-dominated National Assembly declared he would assume the position of interim president of Venezuela until new, transparent elections are called.
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Le président du conseil de surveillance de Vivendi, Vincent Bolloré, et son fils Cyrille, à Paris, en avril 2018. La progression de l'activité de la pépite s'élève à 6,2%, à 6 milliards d'euros (10% à taux de change constants).
Guaido accuses Maduro of being a "usurper" over his controversial re-election past year in polls widely branded as fraudulent.