I think you need to be more specific about the type of delivery you are seeking:
(a) left at the hotel's front desk or Bell Services?
There is a Facebook Group, which I believe is called Ear For Each Other.
It started during the Pandemic, when cast members were looking for work.
I believe it has continued.
(b) knock on the person's door and hand them the item?
The recipient would have to give the delivery person a specific time that the recipient would be in their room.
(c) put the item inside the person's hotel room?
There used to be one Disney-authorized company that could do this.
I'm not sure if it still exists.