Fath al-Rabbani

Benefits: … The command of Allah, the Exalted, is: {مَا جَعَلَ اللّٰہُ مِنْ بَحِیْرَۃٍ وَّلَا سَائِبَۃٍ وَّلَا وَصِیْلَۃٍ وَّلَا حَامٍ وَّلٰکِنَّ الَّذِیْنَ کَفَرُوْا یَفْتَرُوْنَ عَلَی اللّٰہِ الْکَذِبَ وَاَکْثَرُہُمْ لَا یَعْقِلُوْنَ۔} … Allah has not appointed any “bahirah” (a she-camel whose milk was dedicated to idols), nor any “sa’ibah” (a she-camel let loose for idols), nor any “wasilah” (a she-camel which has given birth to twins, one after another), nor any “ham” (a male camel freed from work after siring many offspring), but those who disbelieve invent a lie against Allah, and most of them do not understand. (Surah al-Ma’idah: 103)

Hafiz Ibn Kathir rahimahullah says:
It is narrated in Sahih Bukhari: Sa’id ibn al-Musayyib rahimahullah reports, he says: “Bahirah” is that animal whose milk they would dedicate to their idols, and no one would milk it. “Sa’ibah” refers to those animals which they would set free in the name of their false deities, freeing them from riding and carrying loads. “Wasilah” is that she-camel which gives birth to two consecutive female offspring, and no male camel is born between them; they would also dedicate her to their idols. “Ham” is that male camel from whose progeny many offspring have been born, then they would also set him free in the name of their elders and would not use him for any work.