I want to use 'Doodly' which is a animation presentation tool, either in part or total to create my content. Is this permitted by Udemy?
Absolutely! A great thing about Udemy is the freedom they give instructors to be creative in how they present their material.
About the only things you can't do is use text-to-voice software, or try to sell students stuff outside of your final "bonus lecture." The full set of rules, guidelines, and recommendations are at https://support.udemy.com/hc/en-us/sections/360001167193-Course-Material-Basics
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You can join the Instructor Club after you publish your first course. In the meantime, you’ll find plenty of help and advice in Studio U.