"Do" is an auxiliary verb that is compulsory for questions in English.... unless you have other auxiliaries like "can, may, could" etc. in your sentence/question. Then you omit using "do".
"Want" may also be used as an auxiliary verb, it is, however, used with "to", e.g. "want to eat". It is the same with "have to". Both times, you need "do" to form a question: "Do I have to go to bed?", "Do you want to eat?"
Referring to the comment below: In questions where the question word is subject, you do not need the auxiliary verb "do". Example: "What is wrong with the house?"
"Says who?" and "You called him?" are grammatically incorrect questions as they should always begin with a question word or the verb. So it should rather be "Who says that?" (=> NB: no "do", because "who" is subject) and "Did you call him?", respectively.