Insurance is a necessity. Especially when you are selling a product that someone is putting directly on their body or the bodies of the children/pets. Could you afford a million dollar judgement against you because someone got soap in their eye and was blinded? Or slipped in the shower over your sugar scrub and broke their leg? Their personal insurance will sue you, they don't even have to!
Like it or not, it is the reality that we live with (in the US, which I am assuming you are from.) So no, I would not sell a single sliver without it, and the applicable business license, paying my taxes, etc. When I see people operating a food/soap/body care business on the fly, I feel sick to my stomach at the enormous risk they are taking, often without even realizing it!
I use Indie Beauty Network. I have two million in coverage for about $500/year. That's $42 a month, thereabouts.