If you're looking for a breakdown of the costs, the best I can come up with is this pic from the Skullgirls Indigogo campaign, which was only meant to add a few new characters to the game.
Keep in mind that this is just the breakdown of the costs of adding one character to the game as DLC and staff are being paid for 10 weeks of work. You can imagine the costs being exponentially higher on full games minus the "Rewards" part, especially when you add in marketing and any licensing fees if they use any pre-made engines like an Unreal engine or Havoc's physics engine.
If you're just looking for the total costs of a game, then there's a few out there like GTAIV where the total numbers were made public, though the breakdown of costs wasn't I don't think.