Yes I do. If the server is the one who assembles my meal, I tip her/him a dollar or so depending on how much has had to be boxed and assembled. If it is a fast food place then no. But if it is a restaurant where the main part of the business is sit down, and it is not a fast food place, I do give a tip if the person who has assembled the food brings it to me. If I pick it up at a cashier then no.
I order carry out from the diner, and since the server boxes and packs up the food, I tip her a dollar or two. At Waffle House, I watched the server cook the eggs and pancakes and decided I'd tip her. When I paid at the cashier, I saw that a sign posted there said that carryouts would have an additional 10% added on as gratuity. I was taken aback and put what I had been going to tip, more than 10%, away. If I order from Kentucky Fried Chicken though, I do not tip, they are set up for carryout and are fast food. At the diner or Waffle House the server is doing me a personal service and are helping me beyond their usual job.