I'm no expert, just a guy who's done a lot of reading and one BIAB batch with several improvements to be made.
One of the attractions of BIAB is that sparging isn't really necessary, and you can definitely BIAB without it, but sparging does improve BIAB efficiency. Some sparge because their kettle can't hit pre-boil volume without it, others to get a couple points of efficiency. Pouring sparge water at the right temperature over the hanging grain bag, squeezed or unsqueezed, is an easy method, or some will dunk sparge in a second pot instead. Either way, sparging washes some of the extra sugars out of the spent grain, so there's naturally an efficiency boost if you do it.