In this paper, we propose a general framework for designing numerical schemes that have both well-balanced (WB) and asymptotic preserving (AP) properties, for various kinds of kinetic models. We are interested in two different parameter regimes, 1) When the ratio between the mean free path and the characteristic macroscopic length ε tends to zero, the density can be described by (advection) diffusion type (linear or nonlinear) macroscopic models; 2) When ε = O(1), the models behave like hyperbolic equations with source terms and we are interested in their steady states. We apply the framework to three different kinetic models: neutron transport equation and its diffusion limit, the transport equation for chemotaxis and its Keller-Segel limit, and grey radiative transfer equation and its nonlinear diffusion limit. Numerical examples are given to demonstrate the properties of the schemes.