In San Rafael, the city's Building Official issues permits for work that alters or repairs a building or alters or replaces gas, mechanical or plumbing systems. Whether your crawl space job needs one is something I check with the city before we start, and when it does, we pull the permit and set up the inspection. New applications go through the city's online permit system.
The state Energy Code has energy efficiency requirements for changes to existing homes, not only new ones, so it can apply to an older house getting new insulation. Most of our calls come from owners of older homes around San Rafael, where the crawl space usually holds old batts and a few surprises.
We're based in San Rafael and work in cities across Marin and nearby, from Petaluma down to Strawberry and over to Richmond and Berkeley, including San Anselmo and Novato. If your city isn't named on the site, call and ask.