Kirk was born in Richmond, Virginia to the late Charles Joseph Schaefer and Arleen Reynolds Schaefer on July 30, 1953. He was an avid collector of model trains and enjoyed photographing trains as well. He was a talented musician who loved to play guitar, mandolin and banjo. His favorite past times were camping and fishing.
Kirk is survived by his wife, Cynthia Schaefer; step-son, John Knoke; brother, Warren Schaefer; sisters, Margaret Stoken, Jessie Jenne and Helen Magee.