Sefer HaMitzvot, Negative Commandments
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הזהיר מקחת כופר מן ההורג במזיד אבל יהרג על כל פנים. והוא אמרו לא תקחו כופר לנפש רוצח אשר הוא רשע למות. וכבר התבארו משפטי מצוה זו במכות. (שם, שם פ"ה):
Sefaria Edition 2021, Translated by Rabbi Francis Nataf
He prohibited the taking of ransom from an intentional murderer. Rather he must be killed under any circumstances. And that is His saying, "And you shall not take ransom for the soul of a murderer who is liable for death" (Numbers 35:31). And the regulations of this commandment have already been explained in Makkot. (See Parashat Masei; Mishneh Torah, Murderer and the Preservation of Life 5.)