Yes, that's generally the case that most are 1ph or 3ph in and 3ph out. I have never done it, but I assume you could somehow run a universal motor off of a VFD. I imagine that would not be very good thing for either the motor or the VFD, nor the best way to vary the speed of single phase motor.
Here's a good video explaining the operation of a VFD. It covers a few of the basics of electronics (what diodes do, for example), so it's a good lesson even if you aren't electrically savvy. It still goes into a good bit of detail, though, so it's useful even for guys with oscilloscopes on their benches.

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