Employers and unions are getting fed up with the firms they have used for years to help control their spending on prescription drugs—because their costs keep soaring. Footwear retailer Foot Locker dropped UnitedHealth Group’s OptumRx drug-benefit manager last year, while a Teamsters fund in Philadelphia recently reupped with its replacement for CVS Health’s Caremark. Among their frustrations: They are being told to cover costlier drugs even when less-expensive options are available.