According to RFC6750-The OAuth 2.0 Authorization Framework: Bearer Token Usage, the bearer token is:
A security token with the property that any party
Bearer token is one or more repetition of alphabet, digit, "-" , "." , "_" , "~" , "+" , "/" followed by 0 or more "=".
RFC 6750 2.1. Authorization Request Header Field (Format is ABNF (Augmented BNF))
The syntax for Bearer credentials is as follows:
b64token = 1*( ALPHA / DIGIT /
"-" / "." / "_" / "~" / "+" / "/" ) *"="
credentials = "Bearer" 1*SP b64token
It looks like Base64 but according to Should the token in the header be base64 encoded?, it is not.
Digging a bit deeper in to "HTTP/1.1, part 7: Authentication"**, however, I see that b64token is just an ABNF syntax definition allowing for characters typically used in base64, base64url, etc.. So the b64token doesn't define any encoding or decoding but rather just defines what characters can be used in the part of the Authorization header that will contain the access token.