Google does not support UAF; they support only U2F and FIDO2. This has not stopped companies from creating their own APIs to support UAF on Android, though.
Yes, you can use U2F or FIDO2 on Android phones without an external Authenticator by using the AndroidKeystore, combined with their Fingerprint API. You can also use other biometric capabilities if you choose to, or a PIN/Pattern-based local-authentication scheme to unlock the Private Key within AndroidKeystore. To see an example, here is some sample code that works with the U2F server at this site: https://sourceforge.net/projects/skce/files/v2-Build124/
Arshad Noor
StrongKey