Ignoring the government's costs, people on welfare in the UK can easily end up spending 20 hours a week on claiming that welfare, spread between having to transport themselves to attend a weekly signing on session, making a set number of job applications that meet the criteria (at the same time as conducting a real job search), attending worthless courses and filling out the paperwork. If you remove the moral judgement you remove the need for this busy-work, which is a massive overall cost to society
They are, last I checked, members of society. It's also unhelpful to assume they have the time to spend on this - low income already means that basic things like shopping and getting around take a lot longer since they can't pay for convenience, and they could be spending the time they have on education or even hunting for actual jobs rather than going through a meaningless tick-box approach.