Hi silver12,
The FamilySearch web site is free but you have to log in first. For England/Wales census (not "cencus"!) they give more detail than they used to, for most if not all years 1841-1911 if you search for a name you can see the other names in the household. If you need to see the images you will need to use FindMyPast which you may be able to use free at a local library etc. This wlll give occupations etc which aren't always included in the FamilySearch information.
For Scotland you may have to use ScotlandsPeople, I don't know much about any alternatives.