Rockets need to achieve specific speeds and altitudes to reach and maintain orbit.
A heavier rocket requires more energy. It becomes expensive to develop, test and maintain.
Helium has very low boiling point. It allows it to remain at gaseous state even in super cold temperatures because rocket fuels will be at that temperature.
Helium is used to pressurise fuel tanks, ensuring fuel flow to rocket engine without any interruption.
It maintains the overall pressure inside. As it is non reactive, it can safely mingle with tank's residual contents.
Helium is also used as lifting gas in balloons and airships.
Inhaling a small value of helium gas, temporarily changes the timbre and quality of human voice.