Depends. If the surfaces are completely flat, it should work fine. If not, use the gaskets if you're not removing the heads from the engine. The heads and manifolds were milled flat during manufacturing/assembly at the factory so you won't have any issues there, but after time, those same surfaces may not stay that way. If simply replacing the manifolds, it'd be too much of a hassle to ensure the head mating surfaces were flat, like removing the heads, etc., so a gasket would be fine to use.
Simply using an RTV filler compound would only be recommended if you had both sides checked/milled flat and had maybe a pit or two needing filling. I wouldn't trust it to be used as an overall gasket maker on the exhaust.
If you ran headers you ALWAYS will see gaskets. Nobody complains about them. Oldsmobile V8 is pretty cool because even though many use gaskets, you can hardly see them.