Difference between miser, stingy, frugal, thrifty, cheap (Positive and negative connotations)

What should we call a person who doesn’t spend money (on necessary things) and instead saves it?

He or she enjoys when other people spend their money but when it comes to them they avoid spending money.

I know the words like the miser, stingy, frugal, thrifty, cheap. But I don’t know which would be more suitable in a more casual setting.

I read that frugal is not necessarily a person who is a miser but he spends his money wisely.
I usually use stingy.
He’s a stingy fellow. We could not bring him to spend one extra dime on dessert after a bill of 70$ on dinner.