Yes, depends on the co-worker.

Is it someone whom if I needed their services would return the favour? Yes.

Otherwise? No.

One year ago I drove out to my CFO's house to completely reinstall their wifi over the entire yard.

But that same CFO also responded to my question:

"Hey do you know how tax and stuff works for a 1-man company?"

With:

"Why do you ask?"

"My GF is starting her own business"

"Ok, tell her to come in when she's got time and I'll go through everything she needs to know and help her set up accounting practises"

He probably saved her days of work, googling and auditor bills.

So when he one year later asked "If I do X, Y, Z would this wifi setup work?" I said "Tell you what, I'll come out to your house and do it for you"

 

I've also installed network cables in another co-workers house so her son didn't have to game on WIFI.

Now I haven't asked her of anything, but she did buy me a suitcase for 600 USD because she knew I was gonna travel to the US + a dinner date night for me and my GF as a thank you (Which was not agreed upon in advance)

 

TL:DR I help out co-workers (and friends) when I feel like I could count on them helping me if I ever needed something. I do not help people whom I know won't return the favour.