According to IPC, do you have to wear ESD-safe gloves when handling ESD-sensitive products?

No, wearing ESD-safe gloves is better, but it is not mandatory by IPC. When you touch (lift up) the printed circuit boards (and also assembled printed circuit boards) at the edge (or at the corner), no contamination (finger spots) will occur on the surface and the ESD safety is guaranteed if you are grounded (by a wrist strap) , ESD safe shoes and an ESD safe jacket). Note: these safety devices only work in an ESD safe workplace (EPA). For further information, see IPC-A-610, IEC-61340-5-1 and ANSI / ESD-S-20.20.