Alkanol and alkanoic acid are both volatile so they vaporise when heated normally before they can react and form the ester.
Refluxing condenses these substances before they evaporate and allows for further reactions to occur.
Something like that at least
Edit: the sulfuric acid catalyst reduces the activation energy needed for the reaction to occur. It also increases yield since the sulfuric removes the water (condensation reaction) and shifts the reaction to the right (products side in equilibrium reaction).