The type initializer for ‘Oracle.DataAccess.Client.OracleConnection’ threw an exception

I have developed an application that uses Oracle Data Provider for .NET. I copy the application file (.exe) and ODP library (Oracle.DataAccess.dll) on another computer that Oracle client and ODP.NET are NOT installed on. When I run the application, I got the error msg: The type initializer for 'Oracle.DataAccess.Client.OracleConnection' threw an exception.

*****************Exception Text***************
System.TypeInitializationException: The type initlializer for 'Oracle.DataAccess.Client.OracleConnection at Oracle.DataAccess.Client.OracleConnection..cctor()
  --- End of inner exception stack trace ---
  at Oracle.DataAccess.Client.OracleConnection..ctor(String connectionString)
  ...

Do I have to install ODP.NET and Oracle client on the computer that I want to run my application? If yes, is there other way that I don't have to install them but still can run my application?

Thank you