I think that a bigger part of this issue is that your daughter doesn't contribute anything financially, and that her college is basically paid for, and that she apparently has lots of time to lie down and watch tv, and have meals cooked for her by a boyfriend. That's a pretty comfy life, and one that isn't very realistic.
If your daughter had her own place, there would be precious little time for cuddling, tv watching and entertaining. When my ds got his first apartment, he worked two jobs and went to school and only returned to the apartment to throw some clothes in the washer or try to sleep for a short time. Oh, there occasionally was some time for his buddies or a date, but the expenses, apartment upkeep, grocery buying, jobs and school took up most of his time.
It sounds to me as though less emphasis should be placed on your daughter's boyfriend activity, and more on preparing her for the real world. One does not leave college and all that college entails (preparing for a career and financial stability) just so there's time for boyfriends. That's immature and unrealistic.
I notice in your post that you mentioned you were going to prepare dinner and they were lying on the couch. Then you said you went to do laundry so they could watch tv. I would hope HOPE HOPE that while these two able-bodied adults were cuddling and watching tv that you were not doing any of their meal prep or your daughter's laundry. I would hope that not one bite of that food could be consumed by them. I cook for my adult daughter and do her laundry, but she's medically disabled and literally in too much pain to stand and prepare food, and she's at risk for sudden falls, so carrying laundry up the steps to the laundry room is dangerous. And of course, all moms occasionally do things for their kids, like bring them cookies or mail them a care package,or come over and clean when they're sick in bed, but it's not the norm when the kids are competent and grown.
Your daughter sounds woefully unprepared - financially, realistically, and every other way - to live an independent life. She should be working and figuring out how to pay expenses, what it's like to go to school and do her own chores and prepare her own food that she shopped and paid for. Just moving her out and offering to help her with a budget and organization is doing her no favors. How will she pay for this apartment and all the related expenses? Online classes still require tuition and books and a computer. And if she drops out of school altogether, she limits her earning potential and career choices and won't be able to afford the lifestyle she seems to enjoy. She needs to start now by realizing how much the phone costs, what the electric and cable and insurance bills are, what your mortgage costs, and how adults manage these things.
Talk to her about the cost of independence, and the freedoms that come with working hard and having an education. Stop providing food and laundry services and tell anyone who's physically able who's lying on a couch that there's towels to fold and an oven that needs cleaning and a sidewalk to sweep. When they're lying on a couch, unless they both just got back from a complete day of classes and their homework is done and they both got off a shift from work, start piling laundry on top of them that needs folding, and toss a few brooms and mops and shovels on top of them. When they want to watch tv and you actually leave the room to do chores, next time bring the loudest vacuum cleaner you have into the room where the tv is and start vacuuming. Follow them around with an extension cord if need be.
Your daughter, in my opinion, needs a wake up call. Her life sounds unrealistically cushy.