The question is a lot more tricky than one might think. The answer is "sort of". Colorado simply requires a regular operators license.
New Mexico is far more complicated. In NM if a fire truck is operated by a "recognized fire department" a regular operators license with an easily obtained "E" endorsement is required.
If the truck is operated by other than a "recognized fire department", as defined, then a CDL with air brakes is required.
I am not one of the "you guys" but I did prepare a 10 page study addressing this issue in 2002.
I can only attest from passenger seat observation that the C & T SRR fire truck is operated in a very safe and appropriate fashion