Can multiple people in my household view the videos and/or live stream?

Definitely, yes!

Whoever you have invited on your Kangaroo Account can. all at the same time, view the saved videos from the Cloud Album. To know more about how to view saved videos, click here.

Now, on viewing the livestream, only 2 users can do this simultaneously. 

*To view the livestream from the Video Doorbell Camera:
Step 1. Open the livestream of your Video Doorbell Camera

Step 2. Tap on "Live"