Can I use my Apple ID to unlock another Apple phone that entered icloud

If the iPhone is locked to.your Apple ID, yes you can use it to unlock activation lock

If the iPhone is locked to another Apple ID, no you cannot

How can I unlock it if the id wasn't mine?

Each Apple device is linked/associated with an Apple ID of the person who did the setup.

Activation Lock prevents anyone who is not the owner from using this iPhone.

To unlock the Phone, you need the Apple ID and password of the previous owner, that were used during set up.

So you have to contact the previous owner.

The previous owner has to read -> this Apple article: What to do before you sell, give away, or trade in your iPhone, iPad, or iPod touch

What to do before you sell, give away, or trade in your iPhone, iPad, or iPod touch - Apple Support

Then the previous owner has to remove the iPhone from his account, see this Apple article:

Check your Apple ID device list to see where you're signed in

Check your Apple ID device list to see where you're signed in - Apple Support

Then you can sign in with own your Apple ID.

See the following Apple articles:

Activation Lock for iPhone, iPad, and iPod touch

Activation Lock for iPhone, iPad, and iPod touch - Apple Support

How to remove Activation Lock

How to remove Activation Lock – Apple Support (UK)

• If you need help removing Activation Lock and have proof of purchase documentation, you can start an Activation Lock support request.

The All Too Common SAD Reality of Buying a Used iPad/iPhone

The All Too Common SAD Reality of Buying … - Apple Community                                 

You can also contact Apple support for help, -> Get Support (apple.com)

You have to show proof of ownership of your product, provide all documentation showing your purchase of the device.

If you do not have additional proof of ownership, contact the reseller. They may be able to provide the original purchase document.

Once Apple receive your proof of ownership, Apple will further review your request and provide an update.