Are you sure a SPA web application is what you really want to achieve?
If you are, then the answer is Yes: you don't need a framework for any SPA or any other frontend purposes.
A SPA usually consists of following parts:
So, using these technologies, regardless of your backend technology, you can create a SPA with Vanilla JS. Actually, what you use at your backend has little to no affect on your SPA.
However, depending on how big your application is or how much features you need, you might end up using one. Frontend frameworks are designed to make your life easier.
If you are looking for a framework with an easy learning curve, I strongly suggest Vue.js. You can even get started without installing or transpiling anything locally.