Yes, River Song being conceived from two human parents while in the TARDIS, resulted in a child with Time Lord regeneration abilities.
In the series, time-travel was discovered by humans in the 54th Century, and you see a bunch of them time traveling in the series (notably including "Captain Jack Harkness" of Torchwood).
Which brings in an interesting possibility: are the "Time Lords" really a different species who just happen to look human, or are they the descendents of human time travelers who traveled into the distant past and settled on Gallifrey?
The people of Gallifrey have 2 hearts
and yes there are female Time Lords. A previous Doctor mentioned one that became female in one of his “lives”
You mean 24th century?
“Torchwood” was a horrible show IMO
Humanoid, but not human. It's established "canon" that they are amongst the oldest and most powerful races in the galaxy. They appear human, but have two hearts, a respiratory bypass that allows them to survive extended periods without air, the ability to heal near-fatal injuries by regenerating, and telepathy. It's implied that they have some sense that enables them to perceive time differently from humans. The Time Lords were originally stellar engineers, who captured a black hole and placed it under their capital on their home planet. It was this near-infinite power source that originally made their time-travel possible. (In the new series, the planet Gallifrey has been destroyed or imprisoned due to a war with the Daleks, and apparently the Doctor now has to refuel his TARDIS by collecting energy from space-time rifts.)