No, employers are not specifically required by the ADA to allow teleworking. If your employees cannot complete all their tasks from home, or if there is another accommodation that will keep your employees reasonably safe, you can choose that option.
However, if your employees are able to work from home, allowing teleworking is a great option for accommodating those with underlying conditions.
Keep in mind that as the situation continues to evolve, there will be new guidance from the EEOC. Additionally, depending on your state, there may be local laws that provide additional protections for employees. If you have a different question, or you would like further guidance on best practices during the pandemic, contact us.