xfce4-settings-helper: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/xfce4-settings-helper - from package: xfce4-settings

You may install the required package with command yum install {package}

Error in other languages:
xfce4-settings-helper: bevel nie gevind nie
xfce4-settings-helper: comandă negăsită
xfce4-settings-helper: comando não encontrado
xfce4-settings-helper: commande introuvable
xfce4-settings-helper: command not found
xfce4-settings-helper: käsku ei ole
xfce4-settings-helper: không tìm thấy lệnh
xfce4-settings-helper: komanda nerasta
xfce4-settings-helper: Kommando nicht gefunden.
xfce4-settings-helper: kommandot finns inte
xfce4-settings-helper: komut yok
xfce4-settings-helper: nie znaleziono polecenia
xfce4-settings-helper: níor aimsíodh an t-ordú
xfce4-settings-helper: no se encontró la orden
xfce4-settings-helper: no s'ha trobat l'ordre
xfce4-settings-helper: opdracht niet gevonden
xfce4-settings-helper: parancs nem található
xfce4-settings-helper: perintah tidak ditemukan
xfce4-settings-helper: príkaz nenájdený
xfce4-settings-helper: příkaz nenalezen
xfce4-settings-helper: команда не найдена
xfce4-settings-helper: командата не е открита
xfce4-settings-helper: 命令找不到
xfce4-settings-helper: コマンドが見つかりません