**Neither a teacher nor a native speaker.**
I had that question some months ago too
I have to work -> Do I have to work?
They have to play soccer -> Do they have to play soccer?
Yes, this is correct!
(At least for American English.)
The main difference is when you use it in negative sentences:
I have to work. -> I have not to work.
They have to play soccer. -> They have not to play soccer.
If you add a do in such a sentence, its meaning will be different:
I do not have to work. = I do not need to work. (Because I have enough money.)
They do not have to play soccer. = They do not need to play soccer. (Because they are good enough.)
It's also the case for negative questions:
Do I not have to work? -> Do I not need to work?
Do I have not to work?
(However, I'm not 100% sure here!!)