Is this possible?
I did my research but this is the only possible events for RDS:
https://docs.aws.amazon.com/AmazonRDS/latest/UserGuide/USER_Events.Messages.html
Mostly for maintenance type events but what I want is - let's I have a RDS Oracle table called Users. Whenever a record is inserted in the table, an event or stream can be picked up by a Lambda and do the necessary action.
In short, no, not with the existing events you refer to - these are for monitoring the RDS service, not what you actually use it for, i.e. contents auditing (manipulation/tracking)
You can of course create notifications when an insert occurs, but you'll probably need to build/setup a few things.
A couple of ideas:
Some references:
https://docs.aws.amazon.com/lambda/latest/dg/with-kinesis-example.html
https://docs.aws.amazon.com/AmazonRDS/latest/UserGuide/DBActivityStreams.Enabling.html