Yes, you typically need a special tool to change spark plugs. The primary tool required is a spark plug socket, which is a deep socket designed specifically to fit over the spark plug and grip it securely. Spark plug sockets often have a rubber insert or a magnetic feature to hold the spark plug in place, preventing it from falling out during installation or removal. 
In addition to the spark plug socket, you will need a ratchet wrench to turn the socket. Depending on the vehicle, you might also need an extension bar to reach spark plugs that are recessed deep within the engine. 
A torque wrench is recommended to ensure the spark plugs are tightened to the manufacturer's specified torque setting, preventing over-tightening or under-tightening, which can cause engine damage or poor performance.
For some vehicles, especially those with limited engine bay space, a universal joint or swivel socket may be necessary to access spark plugs at awkward angles. 
While not always required, a spark plug gap tool is useful for checking and adjusting the gap between the spark plug electrodes to match the specifications for your vehicle.
In summary, the essential tools for changing spark plugs include a spark plug socket, ratchet wrench, and possibly an extension bar. A torque wrench and spark plug gap tool are also recommended for optimal results.