Totally depends on the situation. Grabbing a small kid in two-foot-deep water isn't dangerous. They latch on and you walk away with them. Grabbing a 200lb man thrashing after falling off a boat ... get some equipment.
Fyi, the same rules apply when rescuing people from cliffs or other high places. Don't ever "throw them a rope". Don't approach until ready. They will latch onto anything nearby even if that means them falling because they cannot hold (human hands cannot properly hold bodyweight on modern nylon ropes).
If said man has a life jacket on, grab the shoulders, push him under as far as you can go, then pull up. The buoyancy of the life jacket will provide additional momentum for pulling into the boat (assuming low sides)
Fyi, the same rules apply when rescuing people from cliffs or other high places. Don't ever "throw them a rope". Don't approach until ready. They will latch onto anything nearby even if that means them falling because they cannot hold (human hands cannot properly hold bodyweight on modern nylon ropes).