Yes. If you export a character via the makehuman UI, for example as FBX, OBJ or DAE, then you can use that character under the CC0 license
https://creativecommons.org/publicdomain/zero/1.0/ .. This is basically a "do whatever you feel like" license.
Note that this only applies to exported characters. MakeHuman as such (ie the source code and the non-exported assets) is licensed AGPL. So you can't include the makehuman
program in a commercial product.