OneDrive is cloud storage from Microsoft. It appears to us as a website, and can be accessed from any web browser anywhere in the world.
iCloud is cloud storage from Apple. It also appears to us as a website, and can be accessed from any web browser anywhere in the world.
The OneDrive app on your computer (or your tablet or your phone) provides a way to work with OneDrive. Although it has several features that you might find convenient, you don't have to use an app to work with OneDrive. You can work with OneDrive directly, through your web browser. It's your choice.
Similarly, the iCloud Drive app provides a way to work with iCloud. It too is optional, because you can work with iCloud directly, through your web browser. It's your choice.
Finally: Apple offers an iCloud Drive app for Windows, so Windows users can use iCloud. And Microsoft offers a OneDrive app for Apple, so Apple users can use OneDrive. That's simply competition in action.
Nevertheless, since OneDrive and iCloud are websites, nobody needs an app to work with them, just a web browser. The apps add convenience, and you may find some of their features very useful.