Is lazarus / delphi required to code using this engine or can i use vscode ou notepad?
You can use any text editor, including VS Code -- and we even have a dedicated VS Code extension to work with Pascal and Castle Game Engine, see docs on https://castle-engine.io/vscode . Personally, I'm using VS Code right now to code CGE myself.
You can also use Notepad or Lazarus or Delphi or really any text editor :)
Sorry, I misunderstood the question. I meant to ask if I can use just VSCode to create my game with Castle Engine without installing the Scene Editor and other packages that come with it? I am a programmer and I currently use RayLib, and I don't like visual editors. Could I create my scenes in Blender and just program using Castle?
Using the visual editor of Castle Game Engine is always optional. So, yes, you can do everything from code, including loading scenes created in Blender (see https://castle-engine.io/blender ). Follow our manual about using code to manipulate everything, like https://castle-engine.io/viewport_and_scenes_from_code .
Though I should add that I would still advise to test the editor. It's a great tool to easily test the most important components and their properties of the engine. Many things are easier to learn, and then faster to do (and iterate) in editor than limiting yourself to "only code". And then, from code you can always edit 100% of the things that have been visually designed. Even for games where 100% of the content is procedurally generated, the editor remains useful to quickly test everything, design UI etc.
But, it is your choice :)
OK. To be clear, Castle Game Engine components *do not* require LCL. You do not need to use Lazarus IDE to design them, you also do not need LCL form to use them.
You can design Castle Game Engine components in Castle Game Engine editor.
And everything, both Castle Game Engine components, and LCL components, can be also created and manipulated from code :) You don't have to use visual designers (Lazarus IDE for LCL, CGE editor for CGE components) for them -- although it is advised, i.e. it's probably the fastest way to learn :)