Yes, it's normal for PhD students in the US to travel to visit family. You'll have to pay all costs yourself. You'll want to pay careful attention to any restrictions with your visa, and consider complications of international travel that may make it difficult for you to either return home or get back to the US. Certainly international conflicts and sanctions, as well as health-related travel restrictions as have been experienced along with the COVID-19 pandemic are all concerns, but these are not particularly specific to being a graduate student.
PhD students in the US are most often funded by doing some sort of work while they study; for math, in particular, this is often through appointment as a teaching assistant. Being a TA means that travel during the semester is problematic, as you are likely expected to be present for all course sessions and avoidable reasons for absence (like personal travel) are frowned upon.
University-level education in the US is not monolithic - every institution will have their own policies and structure, but a common structure is to have a fall semester from September to early/mid December, followed by a break of a month or so, with courses resuming for Spring semester mid/late January and continuing to early May. Undergraduates may have a week off during Spring (typically March or April), and a few days around US Thanksgiving (4th Thursday of November). Summers can be complicated funding- and responsibility-wise, as you may either more or less have the summer "off" or may be busy teaching an additional semester.
PhD students do not typically have specified "vacation days" the way ordinary employees do, but you'll want to coordinate your vacation time with your PhD advisor at least. This is certainly a question you should ask when interviewing with prospective graduate programs: "I would like to visit my family in my home country during my PhD; what are the opportunities and limits on taking time off to travel?" is a very valid question to ask, and anyone who reacts negatively to such a reasonable request is not someone you want to work with.