This documentation will help you estimate costs. With Azure SQL DTU-model you don't pay licenses, but with Azure SQL vCore -model, SQL Server VMs IaaS, and Azure SQL Managed instance those on-premise SQL Server licences with software assurance can help you save money as explained here.
With developmen, QA, test environments consider using Azure SQL Serverless where you get billed by the minute (in contrast with other Azure SQL PaaS options where you get billed by hourly usage) and is the only Azure SQL option that can be paused allowing you to save money. The other Azure SQL options can be scaled down during none business hours to save money but cannot be paused.
For environments with multiple databases that have varying and unpredictable usage demands, Azure SQL Elastic Pools can provide cost savings compared to provisioning the same number of single databases.
Another thing to take in consideration is that with Azure SQL you can get use of exclusive SQL Server Enterprise Edition features like column store, online index operation without paying for premium tiers and with paying enterprise licensing fees.
Here you will find Azure SQL Database prcing calculator.
In addition you can make use of reservations to save even more money.
There are some features like Automatic Tuning (based on artificial intelligence) that are not available on SQL Server on-premise that you get with no additional cost on Azure SQL.