No — sunlight is not necessary for the germination of bean seeds.
The evidence: Pot C was kept in complete darkness with moist soil, and the seeds in it germinated. Only water and air were available, and that was enough.
The book states the general rule: most seeds do not require light for germination. But after germination, sunlight is required for the further growth of the seedling — that is why the Pot C seedlings were pale and weak while those in Pot D were green and sturdy.