Recently, promoting inclusive education has become the central initiative for governments worldwide. The Universal Design for Learning (UDL) framework has been developed to address students' differences and meet their learning needs. Although some literature has examined the effectiveness of the UDL framework in teaching practices, little research has explored teachers' and students' beliefs toward the UDL framework. This study used a scoping review methodology to locate previous studies about teachers' and students' beliefs regarding the UDL framework published in peer-reviewed journals in the past 10 years (2014-2023). The data analysis conceptualized three themes and indicated that most teachers and students held positive beliefs toward the UDL framework and thought that the UDL framework could support inclusive practices. However, some barriers, such as teachers' misconceptions, inflexible curriculum, and inadequate professionals, influenced teachers' implementation of the UDL framework. The implications for future research and the recommendations for teachers' practices and professional development are also provided.