While 3D printing in FDM machines we usually put a masking or kaptone or blue tape for better adhesion and to prevent warping? Is there a way we could print without putting these contraptions?

As long as you have a heated bed and glass surface you don’t need any tapes. PLA and Nylon (Bridge) stick to a layer of PVA glue, ABS and polycarbonate stick to a layer of ABS juice. There might be some more exotic filaments that need other surfaces but glass will get you a long way. Of course there is then the risk of ABS tearing chunks out of your glass bed, but worth it to me.

Thanks for the details. I used external steel plates and printed on them using the same heat bed. Result was better than glass.