From OAuth 2.0 perspective, access tokens are credentials. Access token can be used to access an OAuth 2.0 protected resource.
When data transmit over a network, attacks can target to extract data from wire. If transmitted data is not encrypted, then such attacks will reveal plain data that were being transmitted. If such data contained a token request and response, then malicious party can extract access token. This is highlighted in RFC6749 as well,
Since requests to the token endpoint result in the transmission of
clear-text credentials (in the HTTP request and response), the
authorization server MUST require the use of TLS as described in
Section 1.6 when sending requests to the token endpoint.
When client makes a connection to authorization server, that connection too open up over common networks. Thus attack is present in there too. This is why you must use TLS for token request.
Now the functionality of TLS is a separate subject. It uses digital certificates, which are issued by certificate authorities (CA). There are trusted CA which by default trusted by operating systems. So when you connect with Facebook, if Facebook uses a tls certificate issued by a well known CA, then you do not have to configure anything.