To further add to the answer, most motors started DOL will not produce 2x rated torque until they reach >70% speed. Typically, they produce a low of about 120% torque and a high of about 240% torque as they accelerate.
On a VFD, you are always running on the part of the motor curve between the breakdown torque speed (the torque peak) and the synchronous speed (100% motor speed). Looking at the curve, you can see how it is possible to create more torque than a full-voltage type of start since you can use that torque peak at any rpm with a VFD.
If you look at the curve and find the motor torque you want then read the motor current off the curve to find how much current you need. You need a VFD capable of producing this current if you want the torque.