Yes you can make some basic characters and stuff like humanoid robots/mechs and I've even seen someone make a mechanical dragon on YouTube so it just depends on your creativity, but currently there are not many pieces specifically made for creating characters in the program so unless you plan on making your own custom modular character assets to use in the program or finding some, you will be quite limited.
this guy has a couple videos using the program so you can check that out to get a feel for things and this particular video is where he makes a dragon Asset Forge Mech Dragon
Good luck and don't forget to look through the collections and blocks section for some custom blocks to add to the program made by other users and some they found on the internet that work with the program.
I'm pretty sure all the ones made by other users are free to be used personally or commercially and the ones found on the internet are also CC0 so no worries.
this took me about 15 minutes to make using primitives, so with a bit more work and better shape choices, im sure you can make some brilliant models :)
