There is a BIOS - a Basic Input Output System, usually made by the SoC manufacturer that acts as a bootloader shim to get the Android bootloader going (fastboot/recovery menu level here) which then loads the Android kernel. It's the same as UEFI or the legacy BIOS, but it does not come with a configuration utility which is the menu that most people think of when they think of "BIOS" I.e. "going into the bios".

A BIOS does not inherently have to have a configuration utility.

Unlike an UEFI implementation on modern AMD64 systems, the typical ARM bootrom is a masked rom written to flash-once memory.

This bootrom performs the same vital functions as a bios though, i.e. sending key instructions and data (including setup of requirements) to the processor for it to start executing the bootloader program off of memory, in this case the android bootloader.

Contrary to popular belief and the top comment ITT at the time of initially writing this, android does not use the Linux kernel, it's based on an LTS Linux kernel, but highly modified with patches to form the ACKs. https://source.android.com/docs/core/architecture/kernel

Without the config utility the ARM SoC BIOS is largely hidden from the user, but the veil is lifted when it fails in spectacular ways: https://en.m.wikipedia.org/wiki/Qualcomm_EDL_mode