On the Venezuelan side of the border, dozens of doctors protested Sunday demanding the aid be allowed in - including surgeon Jose Luis Mateus de la Riva, who accused Maduro of sinking Venezuelan medicine back to the "medieval era".
Guaido, who proclaimed himself Venezuela's interim president last month, is in a test of wills with the Venezuelan military and government of President Nicolas Maduro, which has blocked the aid from entering the country.
The hyperinflation comes amid severe food and medicine shortages in the country and a political power struggle.
Shipments of US food, medicine, and humanitarian aid are on the Colombian side, with a tanker and two large trucks sitting in the middle of the bridge.
Guaido invoked a constitutional provision to assume the presidency three weeks ago, arguing that Maduro's re-election previous year was a sham.
Last week, Lester Toledo, Guaido's representative in the aid mission, suggested it could be moved by masses of people converging on the border to carry the food and medical supplies across.
The military ceremony was attended by the commanders of the land and air forces, as well as the Defense Minister Vladimir Padrino Lopez.
The parliament speaker wants to oust Maduro and set up a transitional government ahead of new elections.More news: MLB owners, players are talking rule changes to invigorate baseball
More news: Rep. Joe Kennedy III to endorse Elizabeth Warren for president
More news: Fighters react to the shocking UFC 234 main event cancellation
German President Frank-Walter Steinmeier, who was visiting Colombia, said in the city of Cartagena that Venezuela was on the verge of bankruptcy and that the supply situation of the population was "dramatically bad".
"They are warmongering in order to take over Venezuela", he told BBC.
"What do we lack today after 20 years of work, sacrifice, to build a majority? In Venezuela, voters vote but do not choose, and we will change that".
Speaking to AFP last week, Guaido refused to rule out asking for foreign intervention.
The military exercises, which mark the 200th anniversary of the historic Battle of Angostura, will continue through Friday.
Amoroso alleged Guaido has "received money from global entities without any type of justification".
Two weeks ago, the regime-loyalist Supreme Court barred him from leaving the country and froze his assets.
Guaido warned that the military would be held responsible for the deaths of protesters. "They hate us, they belittle us, because they only believe in their own interests, and in the interests of the United States", he said.
UN Secretary General Antonio Guterres has reiterated his offer of good offices for a serious negotiation in Venezuela that benefits the people and helps to alleviate tensions that country is facing on Tuesday.
He said he will reject the "minuscule crumbs that they intend to bring with toxic food, with leftovers that they have".