With CC, one can make many different types of characters.

But sometimes even CC is limited...If you are looking to make some humanoid characters completely from scratch but want to avoid having to rig the new meshes to a bone structure then have a look at Mixamo's Auto Rigger. Mixamo has been acquired by Adobe but it seems that the Auto Rigger is being offered for free with a (free) Adobe ID. The website says Preview but I exported 3 characters with no issues so I am not sure what the Preview limitation is (if any).

In any case, if you have an OBJ mesh character, you can upload it into Mixamo Auto Rigger and it will ask you to point out a few features (chin, elbows, wrists, knees and groin). From there it will auto rig the character to one of 4 different skeletons. There even seems to be an Edit Rigging option where you can probably adjust the rigging (although I did not try it).

To do a quick test, I created a block man (from scratch) and then had Mixamo Auto Rig it. The first time I imported it into 3DXChange, it worked but then when I tried to convert it into a Non-Standard Human it gave me an error about the Neck and Head bones not being connected via hip bone. With a small adjustment to my OBj file, I fixed the problem and was able to export the rigged character as a iAvatar.

In iClone I was able to animate the avatar using existing iClone animations. I did not have a chance to look at more advanced animations like facial expressions...I just tried body animations. Mixamo can also add Mixamo animation into the Auto Rigger FBX file but I did not try importing any of these. Once inside iClone, I was even able to make the character soft cloth. Probably if the character had been made of multiple layers (such as body and clothing) I would have been able to make the clothing soft cloth while keeping the body rigid.

More testing is needed to see what features work and what features don't work using this method but I thought that I would mention this for anyone wanting to import completely custom characters into iClone. 

"We often compare ourselves to the U.S. and often they come out the best, but they only have the right to bear arms while we have the right to bare breasts"
Bowser and Blue, Busting The Breast