If I gave temporary custody of my 2 girls while I got on my feet. Just a piece of paper not through court, can they prevent me from going to pick them up? It was written out as temp custody for school and medical decsions. There was no end date specified. Now they are trying to keep the kids from me.

What kind of piece of paper - what specifically does it say?

Go to Court and demand that the children be returned to you - but depending on why you signed off on custody expect a fight.