Delivering for Rural Seniors Act of 2023 This bill directs the Food and Nutrition Service (FNS) to award competitive grants to state agencies under a home delivery pilot program for participants in the Commodity Supplemental Food Program (CSFP). (The CSFP works to improve the health of low-income persons at least 60 years of age by supplementing their diets with nutritious Department of Agriculture foods.) Under the pilot program, a state agency must distribute grant funds to an eligible entity (i.e., a local agency or subdistributing agency) to operate projects that facilitate home delivery of commodities to CSFP participants. Grant funds may be used for costs associated with transportation and distribution of commodities to CSFP participants, staffing required to operate home delivery services, and home delivery outreach to CSFP participants or potential participants. A state agency must prioritize eligible entities that serve CSFP participants who reside in rural areas. A state agency must also submit an annual report to FNS about the project, including best practices regarding the use of home delivery to improve the effectiveness of the CSFP.