The MFS Live cd boots into a version of Linux, not DOS, although it is a command line interface, and not a Graphical User Interface.
WinMFS will work with both SATA and PATA drives provided you're running the program on a computer with the necessary hard drive controller. If you don't have any SATA ports, you can't use it on SATA drives (without some sort of adapter), and if you don't have PATA ports, you can't use PATA drives (without some sort of adapter).
mfslive.org has instructions for both the MFS Live cd and for WinMFS.
The mfsadd command is in the MFS Live cd version, although you can use the -x option of the restore command to get it to do the same thing.
If you made a backup with the old mfs tools, I think MFS Live can work with it, but WinMFS only works with backups made by WinMFS, and I don't think MFS Live can work with those.