How do I find financial help to care for elderly parents full time?

You can visit your local Agency on Aging to see if they can offer anything, but I would strongly suggest you think about your future. What is going to happen to you after your parents are gone? How are you going to make ends meet?

There is no one program that pays for full-time in-home care. Medicaid rules vary by state, so as others have suggested you will need to contact Elder Care/Social Services for your county to get a needs assessment and also call your local area's Agency on Aging to find other possible resources. Here is a helpful article from the home page of this website: https://www.agingcare.com/articles/how-to-get-paid-for-being-a-caregiver-135476.htm

Social workers with the County or State may also have something to offer.  Michigan has an Elder Law division, and also has a food supplement program.  The latter could really be of help with your family's food needs.   Forgotten Harvest also provides food to families in need.

Try applying for a Medicaid State waiver. They may pay for few hours a week at a low hourly wage. Most home caregivers are paid by their parents with their money. Check with Agency on Aging to see if there are any local resources.