"We cannot stand idly by when refugees in distress seek protection in [countries] neighboring European Union states," Steinmeier said in a statement posted on the AA website.
The minister called on EU member states to assume responsibility for providing "quick and effective" assistance to the refugees.
He added that 400,000 euro would be allocated to the Serbian branch of the religious charity Caritas, and 200,000 euro to the German Red Cross in Macedonia.
Steinmeier, along with Vice Chancellor and Economics Minister Sigmar Gabriel, published a 10-point action plan for an EU-wide response to the ensuing refugee crisis on Sunday.
Macedonia declared a state of emergency last week due to the migrant crisis, while Serbia continues to serve as a transit point for migrants crossing into Hungary and onward into the European Union.
