If cryptocurrency is based on proof of stake, you can get a percentage for each address you own based on how saking work in that crypto, but that percentage increases as the number of coins you buy increases, and the reason you get some return is that you venture to invest in that currency.

some POS blockchain need min amount of coins like 32 ETH and other need to have address with balance like ADA.

So yes, there are methods for staking in from a non custodial wallet
Can you staking bitcoins from a non custodial wallet? No, because Bitcoin works based on proof of work. Here you will need a third party to benefit from your bitcoins and share the profit with you.