We study variable-length feedback (VLF) codes with noiseless feedback for discrete memoryless channels. We present a novel non-asymptotic bound, which analyzes the average error probability and average decoding time of our modified Yamamoto--Itoh scheme. We then optimize the parameters of our code in the asymptotic regime where the average error probability $\epsilon$ remains a constant as the average decoding time $N$ approaches infinity. Our second-order achievability bound is an improvement of Polyanskiy et al.'s (2011) achievability bound. We also universalize our code by employing the empirical mutual information in our decoding metric and derive a second-order achievability bound for universal VLF codes. Our results for both VLF and universal VLF codes are extended to the additive white Gaussian noise channel with an average power constraint. The former yields an improvement over Truong and Tan's (2017) achievability bound. The proof of our results for universal VLF codes uses a refined version of the method of types and an asymptotic expansion from the nonlinear renewal theory literature.

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