I guess you would probably say that someone who is sinning wouldn't dare think to go to God in prayer. Well, I beg to differ. Jesus hung out with the sinners so that He could be a light in their dark situations to give them hope.
Yes you can give someone who is in a sinful state a kneeling prayer pillow so that when they decide to repent, they can fall on their knees and get back in right relationship with God.
So the next time you want to encourage someone while in their sinful state, here is a scripture they can meditate on to get strength:
For when we were yet without strength, in due time Christ died for the ungodly. For scarcely for a righteous man will one die; yet peradventure for a good man some would even dare to die. But God commendeth his love toward us in that while we wer yet sinners, Christ died for us. King James Version
You see at just the right time, when we were still powerless, Christ died for the ungodly. Very rarely will anyone die for a righteous man though for a good man someone might dare to die. But God demonstrates his own love for us in this: while we were still sinners, Christ died for us. New International Version
When we were utterly helpless with no way of escape, Christ came at just the right time and died for us sinners who had no use for him. Even if we were good, we really wouldn't expect anyone to die for us, though of course that might be barely possible. But God showed his great love for us by sending Christ to die for us while we were still sinners. The Living Bible
In conclusion, never give up on the sinner. Jesus didn't and niether should we. Continue to spend time meditating on the Word while using your kneeling prayer pillow so that you can offer strength through the Word.