In one word, NO. The state does however require an annual state inspection of all power boilers not under someone else's jurisdiction (FRA). A friend of mine, Alex Schneider and I built a 6 inch to the foot scale live steam 2-6-2 and even built our own boiler. We got a certificate and had it it inspected by the state each year we operated it. Alex also use to own a 1910 vintage J.I. Case 60 horsepower steam tractor and the same was true with it also.
Scale model boilers are exempt from state regulation unless used in commercial service.
Roger Mitchell
Master Mechanic
Fort Collins Municipal Railway