There are no restrictions in the RFP about providing stipends or mileage reimbursement. You can find more information about mileage reimbursement on the instruction page of the Budget Form.
This project #90CCDG0002 is supported by the Administration for Community Living (ACL), U.S. Department of Health and Human Services (HHS) as part of a financial assistance award totaling $10,364,463 with 75 percent funded by ACL/HHS and $3,458,052 or 25 percent funded by non-government source(s). The contents are those of the author(s) and do not necessarily represent the official views of, nor an endorsement, by ACL/HHS, or the U.S. Government.