The short answer is no. The medium-long answer is only for commercial use. The longer answer is I am not a lawyer, but I'll take a stab at explaining this anyway — specifically for the USA.
I recently found myself looking at school buses, for potential conversion into an RV. While there are many relevant criteria to be satisfied when making such a purchase, probably the most important is "will I be able to drive it?" I am not so concerned about physically being able to operate a bus, only legally. Most school buses in which I am interested have a GVWR over 26,000 pounds, which normally requires an upgraded, "Class B" license in California (and similar licensing in most other states.) But as it turns out, this is simpler than it seems at first.