If I understand correctly, you’re having parts made by your team in your school workspace, versus parts sent to an outside machine shop.
If so, I would NOT suggest you use GD&T. There are not enough hours in the day for you AND the manufacturing kids to learn it. You could consider including the common symbols in your drawings, and teach their meanings as time and energy permits, but I wouldn’t expect much. The students are often having enough difficulty keeping things in (simple) tolerance and adding further constraints to the dimensions are not going to make it easier.
At the FRC level and possibly a young learner of creating technical drawings, I would suggest you first become very proficient at dimensioning drawing. Make the dimensions complete, not redundant, not ambiguous, minimizes the maker doing a lot of math, toleranced appropriately, use notes, etc.
I used to be proficient in the use of GD&T, but I have’t actively used it in 25 years. -I’ve forgotten a lot. Having said that, as the internal machinist in several companies, I found it much more useful to walk over to the engineer/designer and have a conversation about what was important (and not) on a drawing they gave me. I could then best provide them what they wanted.
Also, do you have the ability to inspect and check the parts as drawn with GD&T? If not, then how do you know you’re getting what your “paid” for? Adding GD&T, tight tolerances, over tolerance, etc. cost money. -“money” could be currency, or the extra time/energy/frustration that is spent trying to make your part.
CNC machinery is not a requirement to use GD&T.
You can use it on parts made with a hacksaw and file 
If engineering is in your future goals, I would say yes, learn it. But take your time as you likely won’t need it during your time in FRC.
Coincidentally, I receive an email this week that led to this link:
link to GD&T Introduction I am NOT endorsing this paper, I just happened to see it this week. There are many other sources.
If you want to use GD&T, keep it simple and use just the basics: True Position, concentricity, parallelism, perpendicularity, circularity, straightness, flatness and angularity. That should cover most(?) things that you would likely design. But as I already mentioned, first learn to dimension your drawing well.