In order for force to ‘enter’ an object (and do damage), the object needs to stay still until all of the force has the chance to do so. Insects are just so light that the flick starts pushing the insect away before that can happen.
Consider a balloon. If you punch a balloon, it bounces away. But if you punch a balloon directly into a wall or floor (preventing it from moving), then the chances of it popping are higher.
Meanwhile, humans are *much* heavier. The entire force of the flick can enter the skin it hits, and all of that force will cause the stinging sensation.
Also, consider how much more effective clapping an insect is. Since the force is matched with a force keeping the insect in place, *much* more damage can be done to it.
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