Keeping an object at a constant altitude requires force, but it doesn't necessarily cost any energy. For example, there's no energy being expended keeping my coffee cup elevated, just a table exerting a force.
From my admittedly limited understanding of aerodynamics, a plane's engines are only fighting against drag to keep the airspeed up, and it's the airspeed passing by the wings that generates lift -- if engines are necessary to generate lift, gliders and kites wouldn't be able to work at all.
There's more too it than that. The airfoil causes a net downwash, and via newton we know the acceleration of that mass of air will cause an upward force. The finer details of this are something a lot of textbooks get wrong. Wikipedia's article about it is pretty good.
With a kite the wind is the engine, the string allows the kite to use it. Or you can run on a windless day.
With a glider the tow plane or ground tow rope provides the initial energy to get to altitude, giving the glider potential energy. As it glides that potential energy is converted to kinetic energy. The pilot uses their knowledge and skill to glide to places where they can gather more energy from updrafts of various sorts. I think it's really amazing how after that initial injection of energy, it's just all just skill and ambient energy.
From my admittedly limited understanding of aerodynamics, a plane's engines are only fighting against drag to keep the airspeed up, and it's the airspeed passing by the wings that generates lift -- if engines are necessary to generate lift, gliders and kites wouldn't be able to work at all.