I only gift money, I never loan it.
There is no expectation then of a return of the money. I also then will only do so if I can truly afford to give the money. It makes everything simpler.
If they decide on their own to pay back the gift, that is just a "bonus." But I'll be honest, no one has decided to do so if they initially asked for a loan and I gave it as a gift. And I hold no resentment for it since it was a gift.
I hope that makes sense!