Sending a spacecraft on an interplanetary mission does cost a lot of fuel, but not so much for the journey, but for getting the craft off of earth. Longer, more complex missions generally require more complex, heavier space craft. Getting a pace craft into Earth orbit costs around $10,000 per pound. If you want to make it a manned mission, then you also have to take with you all of the fuel and equipment needed to get off the destination planet and propel the craft back home.
Take a mission to Mars for example.
We've had several un-manned missions to mars, and they were plenty expensive. You know that a pretty big rocket and a lot of fuel were necessary to get the robots there. Now imagine you were trying to send a crew of people with all of the necessary protective gear, food, life support, etc. That's a lot bigger payload, and therefore, a lot more expensive. Now imagine you have to not only get them there, but after their mission, they'll still need a spacecraft with enough thrust and enough fuel to get them off the surface of Mars and push them on their way back home.
If it takes a big expensive rocket to get a little robot to Mars, then it will take a big expensive rocket to get a crew from Mars back to earth. What kind of ungodly behemoth will it take to get that big expensive rocket to Mars?