Can I connect single phase power to the input of a 3 phase drive?

Yes you can single phase into a 3 phase drive input. But this lowers the size of the motor the VFD can drive. A rule of thumb is to double the FLA (Full Load Amperage) of the motor and compare to the drive specifications. For example of you have a motor with an FLA of 5 Amps then your VFD maximum amperage must be 10 Amps.

The technical guides of each VFD will usually have a wiring guide for this type of installation.