Is it permissible to take money from non-Muslims to help the family of a deceased friend?

It is permissible to accept assistance, a grant, or a gift from a disbeliever to a Muslim. The Prophet, peace and blessings be upon him, accepted gifts from disbelievers and also gave them gifts. Therefore, there is no objection to collecting donations for your colleague's family from anyone who extended a helping hand to you, whether Muslim or disbeliever.