Kiera suffered major injuries when she was struck by the vehicle. She was pronounced dead in hospital.
"A child died heroically, I mean if you think about it, she sacrificed herself for another small child," California Highway Patrol Officer Kevin Pearlstein told Fox.
"We're going to do an inspection on the vehicle, find out why this happened, find out if there was some sort of malfunction on the vehicle and go from there."
Jenkins and her fiancé Jonathan Gusich said Kiera was a 'big sister' to his little girls.
She was always looking out for them and apparently she gave her life for my kids,' Gusich said.
"I don't know how to repay them, repay her.
"She must have been the guardian angel yesterday and they're here because of her."
A GoFundMe has been set up for Kiera's family to assist with expenses.
As of Saturday morning (NZT), it had accumulated over US$78,000 in donations.
The page said that Kiera was a "sweet girl".
"Those of you who had the pleasure of knowing Kiera know that she is such an amazing, beautiful, smart and funny little girl. She truly brings so much love and happiness to so many people," the family write on the pages.
"The entire Larsen family cannot thank every single one of you for your love, support and prayers.
"You have no idea how much seeing the support from so many people has helped us during this incredibly tough time.
"Again, THANK YOU from the bottom of our hearts."
-Daily Mail