Yes. Find my friends is an internet based data service. If not connected to wifi, then the only other way your iPhone can connect to the internet is over your cellular data connection. So it either costs money or counts against any data contract limit you have on your account.
My find my friends app only works when I'm on wifi. When I try to use it when I'm not on wifi it's says please connect to wifi or cellular data network even though I have perfect service.
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So if I am not on wifi using find my friends costs $ because it uses cellular data, right?
You must set Settings > Cellular > Cellular Data = "On".
If "Find Friends" appears further down in Settings > Cellular > Use Cellular Data For, it must be "On" as well.
How to use find my friends when not on wifi?