Fday said:No spring action but there is a benefit. What you are doing is increasing the potential energy of that leg which is returned on the downstroke. So, getting the leg up does not do work directly but it does do work indirectly. So, the question then becomes, which is the most efficient or best way to do that work, using the muscles of that leg to do the work directly, using the muscles of the other leg to do the work indirectly, or some combination.
A very small amount of potential energy, decreased further by mechanical losses in the drivetrain and on the road surface, as well as by any opposing forces generated by muscle movement. I'm willing to bet the amount of potential energy is so small that it essentially doesn't matter.