If you do commercial SEPA Transfers, yes there are fees. If you only do push transactions (ie, customers sends SEPA transaction to you), it's largely account management fees.
The pull transaction (SEPA Debit) isn't free, you can buy transaction packets (usually around 5-15€ per 1000 transactions) as well as paying a fee on monthly cash inflow (usually around 0.1-0.3%). Honestly, it's peanuts.
I had this random thought, I wonder if it holds water:
The EU states are (fairly) confident in their status as independent countries, and thus dare subject themselves to and implement such things as SEPA.
While the U.S. is a single country, the states within are not independent countries and, very aware of that, try to defend their independence within the union at every turn.
We really are blessed with SEPA¹.
Still, a few cents sounds at least reasonable.
1: https://en.wikipedia.org/wiki/Single_Euro_Payments_Area