No, there are no such requirements. However, if you are looking for training guidance, you could refer to the forklift training requirements at 1910.178(l) and train on any elements that apply to your type of vehicle. Another source to investigate is the manufacturer’s operational manual, which may provide safe operating training tips for your vehicle.
Even though there are no specific requirements in OSHA’s general industry regulations, it is expected that employers will train employees, to some degree, on the safe use of all tools and equipment which they will be using in the workplace. OSHA can always cite under the General Duty Clause for unsafe or hazardous situations that are not covered by a specific regulation.