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In most cases, how to check the fluid level will be described in the owner's manual.
Assuming it is not (why not?) or you don't have access to it/them, it might help some to know which of your three listed vehicles you are referring to and what type of transmission (auto., manual) they have.
I general, yes, if you have an automatic transmission there will be a dipstick for the fluid level. That can be found in the engine compartment. Often (by convention) its handle will be yellow. (Engine oil is similar so make sure that you can distinguish between the two.)
It may be necessary to have the fluid at operating temperature for an accurate reading. Wipe the dipstick with a clean cloth before taking a reading. You might also allow a minute or two for the fluid level to drain back after driving. Usually, the engine should be running and vehicle in Park (or Neutral), while checking.
With a manual transmission there will likely be a filler plug on the side of the transaxle somewhere. Usually, the correct fluid level is to the bottom of that fill hole. The plug is usually accessible from under the vehicle.
You will need a wrench of the appropriate size to unscrew the plug in order to check the level. A clean finger inserted in the hole is used then to determine the fluid level.
Sometimes the fluid(s) for the differential and that for the gearbox will be separated so you will have two plugs to check.
I am aware of vehicles that use a dipstick to determine the oil level in a manual transmission and one that uses the speed sensor as a dipstick.
There are some transmissions which are filled for life at the time of manufacture i.e. there is minimal provision for checking or changing the fluid. Those are best left to professionals as they require more specific techniques to check and fill.
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