Yes, you may bring your staff and immediate family members (those closely related by blood, marriage or adoption, and who reside regularly in the household). They may join you on the same G-1 status. Your personal attendants and servants may join you in the U.S. on G-5 visa.
Your dependents may work only after receiving permission from the USCIS. Working without prior permission is considered a violation of the visa status. They may apply for permission to work if there is a reciprocal work arrangement between the U.S. and your nation.