הַעֲנֵ֤יק תַּעֲנִיק֙ ל֔וֹ מִצֹּ֣אנְךָ֔ וּמִֽגָּרְנְךָ֖ וּמִיִּקְבֶ֑ךָ אֲשֶׁ֧ר בֵּרַכְךָ֛ יְהוָ֥ה אֱלֹהֶ֖יךָ תִּתֶּן־לֽוֹ׃
你務要從你的羊群、你的禾場、你的酒醡中，厚厚地饋贈他；永恆者你的上帝怎樣賜福給你，你也要照樣給他。
Mishneh Torah, Positive Mitzvot
To bestow liberal gifts upon the Hebrew bondman (at the end of his term of service), as it is said, “And when thou lettest him go free…. thou shalt furnish him liberally” (Duet. 15-14); and the same should be done to a Hebrew bondwoman.
Mishneh Torah, Positive Mitzvot
To relieve a neighbour of his burden and help to unload his beast, as it is said, “…. thou shalt surely release it with him” (Ex. 23:5).
Sefer HaChinukh
To endow him upon his leaving to freedom: To give from what we have to the Hebrew slave at the time that he leaves from under our hand to freedom, and we should not send him empty-handed. And about this is it stated (Deuteronomy 15:14), “You shall surely endow him; from your flock and from your threshing floor and from your vat that the Lord, your God, has blessed you, shall you give to him.”