Okay, let's say you start bending the part. The material near the surfaces yields. At some point closer to the neutral axis, the material never yields, but is stressed elastically. So a stress diagram across the surface would show yield stress in compression on one side, yield stress in tension on the other side, and a linear transition between these two points, with zero stress at the neutral axis. As you bend the material more, the depth of the fully-yield area increases.
The material at the surface is stressed to the yield point, and at that point, continues to be stressed to the yield point as the material is bent more. (Based on the simplified stress-strain curve mentioned above).
When you stop bending the material, it moves back the other way ("springback"). It has a permanent strain near the surfaces. As it comes to equilibrium, the surface that was stretched in tension will have compressive elastic stresses in it, and vice versa at the far side. The interior of the piece was stretched in tension will now be balanced by the outer surface in compression (and vice versa at the other face). So yes, you do have residual stresses. But as I mentioned above, these are not normally taken into account in the design.
Of course, any type of welding or cutting on the member will induce internal stresses in it, and these are not normally considered, either.