No. If you paid your IRS or state taxes electronically (direct debit, credit card, EFTPS, etc.) there's no need to print out and mail a payment voucher.
Mailing a payment voucher without a check or money order may cause confusion for the government. To keep track of your payments made refer to links for additional information.
https://www.irs.gov/uac/view-your-tax-account
https://www.irs.gov/payments
Hope this was helpful!
