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Is there a popular example of UDA? Is this different to BRC-20?.

Just the ones on DIBA.io. This should be much cheaper, more scalable, and more powerful, since it can execute all sorts of different contracts. The current LNP/BP specs define:
RGB20: Fungible tokens
RGB21: Non-fungible tokens
RGB22: Decentralized identity
RGB23: Ordered events
RGB24: Decenralized DNS

The details for all of these are computed and kept off-chain, with only an on-chain cryptographic commitment to this data as it changes, so ownership can be verified and double-spend can be prevented.

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