To be fair expecting people to pay for the sins of their fathers is kind of bullshit.
The good news is that there's honestly very little for the average citizen to "pay".
The first step is recognizing the system. That it exists, that white people benefit from it, even if they don't consciously know that they do.
After that, there's a few other simple things:
Be willing to call out injustice when you see it. That might be signal boosting an injustice in the news (such as the Ahmaud Aubrey case), and it might be uncomfortable conversations with people you know. The more people know about it, the easier it is to address as an issue.
Be cognizant of the policymakers you back and vote for, and their track records on racial inequality and racial justice. These policymakers will be the ones to create policy that affects PoC, which will have the largest sweeping effect on the issue.
And this is the hardest one: know when to be quiet and listen when someone who is not white has an experience or a perspective they want to share with regards to racial inequality. It's tough because we all want to be noble and help as much as we can, but there are many times when their words will be so much more valuable than anything a white person can give.
If you get those on lock, you're already doing pretty damn well for an average white citizen. There are of course the other usuals like volunteering your time and money to groups that combat racial inequality, and if you feel compelled to get involved, mores the better.