For USDA and NSF, no. The institutional RCR plan is part of the institutional assurance and does not need to be included in the text of your proposal. However, a mentoring plan (NSF - section 7008) is required
if you request support for a postdoc.
For NIH, yes. See NIH guidance
for more information. A template
has been developed to assist you in drafting this part of your proposal.