During the latter part of his playing career, Kaufman was the Raiders' chaplain, and baptized several teammates in the whirlpool at the team's practice facility. He retired abruptly at the end of the 2000 NFL season to pursue a career as a Christian minister. Today he is the senior pastor at The Well Christian Community Church in Livermore, California, a church he founded with about 15 families in 2003; as of 2018 the church has over 1,000 regular worshipers. His wife also serves as a pastor, two other former Raiders serve in leadership roles, and Hall of Famer Rod Woodson is a member. He has three sons and one daughter and has been married since September 1996. He also coached in the Pleasanton Junior Football League where his teams went undefeated four years in a row. As of December 2013, Kaufman is the head football coach at Bishop O'Dowd High School in Oakland where all three of his sons have played. Kaufman's Bishop O'Dowd team won the CIF-State Division 5-AA Championship in December 2016. He also returned as the Raiders team chaplain in 2012 and served in that role until the team relocated to Las Vegas in 2020.