That actually brings up an interesting point.
First of all, I think that you should have access to ANY drug without a prescription. Of course, it would be wise for people to take drugs guided by a prescription from a physician, but that should be their choice and getting a prescription should not be an obligation.
Second and more related to the subject of healthcare costs, an idea that is sadly regarded as radical nowadays, but it makes perfect sense, would be to end the requirement for a licence to practice medicine. On top of that, ending the welfare state allowing free immigration to become something feasible(this is where usually republicans will usually disagree with me, but pay attention to the fact that I wrote that free immigration is only feasible if the welfare state is ended first) and than physicians from all over the world could compete in the U.S., which would make costs go down and quality go up. There's an interesting video from Milton Friedman. Watch what he says about the American Medical Association(this also applies to other similar institutions such as the "Conselho Federal de Medicina"(Federal Council of Medicine), which is the direct equivalent of the AMA here in Brazil and when I say this stuff, my colleges obviously don't like it, but it would be hypocritical of me not to admit that this is true, even if it AT FIRST may seem against my own interest as a physician:
That would help bring costs down, but the main thing would be to end regulatory stupidity and make insurance companies in much bigger numbers to compete. Less red tape + more competition = Even lowers costs and more quality.
Unfortunately, these have become ideas that are so far fetched, that it is virtually impossible to put them into effect. But, this could at least show a direction in which to go. Contrary to the current "accepted" ideas that don't work and never will work, because they are just more of the same that actually created the problems I mentioned(more regulation increasing government's role in healthcare, etc...)