Crisis Assistance Helping Out On The Streets Act or the CAHOOTS Act This bill allows state Medicaid programs to cover certain community-based mobile crisis intervention services for individuals experiencing a mental health or substance-use disorder crisis outside of a facility setting. Among other requirements, such services must be (1) provided by multidisciplinary teams composed of behavioral health professionals who are trained in trauma care and de-escalation techniques, (2) available 24-7, and (3) voluntary for the individual experiencing the mental health or substance-use disorder crisis. The bill provides an enhanced Federal Medical Assistance Percentage (i.e., federal matching rate) for such services, as well as specified funds for state planning and evaluation grants.