Kobia said this in response to the Taliban offering cooperation with international organizations in the fight against coronavirus and their call for special attention to their prisoners.
"Everyone has the right to be helped against coronavirus. To be better helped, first measures should be: full ceasefire, stop taxing humanitarian aid, ensure full access & safety, coordinate & cooperate with Government. That would maximise help to all the people of Afghans," Kobia said on Twitter.
Taliban have not responded to the EU envoy's call for ceasefire.
The group signed a peace deal with the United States late last month, but it continues to carry out against Afghan forces at high levels.
Under the deal, the Afghan government is expected to release 5,000 Taliban prisoners in return for 1,000 prisoners held by the group before intra-Afghan talks.
However, the government says that their release will be gradual and conditional including Taliban reducing violence.