I have a test server and this server running central admin and SharePoint foundation Web Application service. Can I use this server for user profile synchronization service and user profile service application to import users & profile information from AD?
Most definitely. First you install SharePoint 2013 in a single server installation and when you're done, just configure User Profile Service with User Profile Synchronization, as in any other SharePoint Farm.
Just make sure it's for testing purpose only. You shouldn't use a single server install for production.