You do not need the iclone-characters for motion editing, just any basic skeleton rigg with around 26 bones.
iclone imports BHV motion files to convert to the VNS files.
I do not know if maya exports BVH or not.
I use the motion editor in iClone studio 90% of the time, there is a good tutorial about the motion editor on youTube.
For the other editing I use Poser7 (mainly because I already have it). I use the poser native "stickman", Keyframe the animation and then export as BVH.
you can use the BVH motion converter in iClone but you will need to make a prt file (bone ofsets) for the stikman, but that is a once off thing to do. Tutorial for this is in the CCD files.
Good luck!