For your situation you will want to use あげる, which is used when the recipient is not in your social circle. The giver can be anyone.
Take note of social status too. If the recipient is socially superior the giver, then you should use 差し上げる（さしあげる), but you don't have to. When the recipient is socially equal, or slightly lower, then you use あげる。 If the recipient is inferior you can choose to use やる, but that is often only for pets, plants, or your in-group inferiors (such as younger siblings).
田中さんは山田先生に本を差し上げました／あげました。 Mr. Tanaka gave Mr. Yamada (social superior) a book.
山田先生は田中さんに本を上げました。Mr. Yamada gave Mr. Tanaka (social inferior) a book.
田中さんは鈴木さんに本を上げました。Mr. Tanaka gave Mr. Suzuki (social equal) a book.
田中さんは子猫にえさをやりました。Mr. Tanaka gave the kitten (social inferior) some food.
Note: くれる can be used when the recipient is in your social circle (your family), not just yourself. If you (or someone in your family) receives something from a social superior, you have to use くださる.
山田先生は母に本をくださいました。Mr. Yamada (social superior) gave my mom a book