The way NASA and SpaceX make money, is the same really. Both will launch satellites into space. Someone is paying for the launch of the satellites, and it is quite a hefty price tag to have things launched into space.
SpaceX is actually reasonably cheap as far as that is concerned, but the cost for launching a Falcon 9 is still close to 70 million USD. The customers who want their satellites in space pay for that.
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