you will need to register to volunteer with a group that helps out the Syrian refugees in Berlin. Otherwise, as American citizens, you are not allowed to participate in politically sensitive situations in other countries - you may find yourself forced to leave Germany earlier than originally planned.
If you want to help, there are several international aid organizations who are helping out - UN, Doctors Without Borders, International Red Cross, CARE, Catholic Charities etc. Goggle on-line medical missionary groups (some are religious-based, others are not...but they all use the same term). You can put in parameters for where you want to help, and go from there.
But, going as a private citizen beforehand and just showing up somewhere in Berlin saying you want to help is not a good idea - do your homework, and make sure an organization is expecting you. Otherwise, you will probably not be given the opportunity to help.
Best of luck