In STEM education and careers,underrepresented minorities (URMs) experience higher attrition than non-URM counterparts. Informal educational experiences, such as outreach, have been identified to increase URM awareness and enrollment in STEM. The objectives of this work were to (1) elucidate the current state of racial and ethnic diversity in medical physics and (2) provide a community-focused framework for building effective outreach programs geared toward K-12 URM students and their families. Methods: Self -reported racial and ethnic identity data from the American Association of Physicists in Medicine (AAPM) members were obtained to identify the percentage of URM members. Outreach programming was developed for home or away events. Home events occurred at the University of Wisconsin-Madison Department of Medical Physics; away events occurred at public community institutions that served URM and economically disadvantaged populations. Demonstrations, hands-on activities, and presentations covered radiation detection, radiotherapy, medical imaging, and medical physics career paths. High school students were asked about their awareness of medical physics prior to outreach events. Likert-scale surveys evaluated student level of agreement (1 = Strongly disagree to 5 = Strongly agree) that home events increased their career interests in medicine and physics and interest in pursuing STEM coursework. Results: Average percentage of AAPM URM members was 10.7% from 2014 to 2020. From 2016 to 2020, 42 outreach events occurred near or within the Madison metro area. Over 1900 individuals participated in outreach events, with 50 participants on average per event. The majority of home event participants indicated their interest in medical careers increased (65.4%) and were inspired to pursue more STEM courses (73.1%) after the program. Conclusions: Our medical physics outreach program demonstrates a means of increasing awareness and interest around medical physics, particularly for underrepresented individuals. This article addresses gaps in the literature for how to create and implement effective, community-focused medical physics outreach programs.