There isn't really a single word in English that makemeans exactly what you are looking for. 'Beneficiary' can be used if the help is financial in nature, for example, or 'recipient' if the help involves giving something (object, money, advice etc.), but it depends on the context.
For a completely generic term, I think you can't get much more concise than 'one who is helped' or 'recipient of help' I'm afraid.