It might be inefficient in the sense that you lose much or even most of your materials during re-entry/collection, but (for all we know) it could still much more economical than mining here on earth. If you can bring gold back to earth at a price of $1k/kg, it's not going to matter that half (or even 90%) was destroyed in the process.
I assume here that you'd look around for asteroids that were of a Goldilocks size: not too small so that a large fraction of the material survives re-entry, but not too large so that it creates a serious risk of destruction.