When Jesus spoke of the man who found the treasure in the field, he emphasized how "in his joy" the man went and sold all that he had to gain the treasure (Matthew 13:44). We're not supposed to feel sorry for the man because it cost him everything. Rather, we're supposed to imitate him. It cost him, yes, but it gained him everything he wanted! It filled him with joy. The benefits vastly outweighed the costs.
The more we give, the more we delight in our giving—and the more God delights in us. Our giving pleases us. But more importantly, it pleases God: “God loves a cheerful giver” (2 Corinthians 9:7).
God delights in our cheerfulness in giving. He wants us to find joy. He even commands us to rejoice (Philippians 4:4). What command could be a greater pleasure to obey than that one? But if we don’t give, we’re robbed of the source of joy God instructs us to seek!