You should be able to get close by grouping on the Task Usage view. Here are some step by steps
1. Apply the Task Usage view
2. Add the Cost field to the view
3. Insert the Text 1 field and add the formula: [Outline Number] & " " & [Name]
4. Create a custom group with the following definition:

Group by:
Field: Text1
Field Type: Task
Order: Ascending

Then by:
Field: Resource Group
Field Type: Assignment
Order: Ascending

You'll need to turn on the option "Group assignments not tasks" to be able to set the field type to assignments.

Apply the group.