In effect, op amps are differential amplifiers. The output voltage is some gain factor times the difference in voltages at the inputs. See section 6.5 of the book linked below.
We need a lot more information! What is the nature of the inputs? There are true differential amplifiers (instrumentation amplifiers) but they are internally built by more than one conventional op amp. You can also take differential measurements with a common op amp. But, at a minimum, we need to know the voltage range of the signals. Google for 'instrumentation amplifier'.
As to output voltage range, sure, it can be anything within the rails of the op amp power supplies or as limited by the datasheet to a couple of volts away from the rails. In other words, if you want to swing to exactly 5V and 0V, you probably can't get away with a 5V single supply op amp because despite them being called rail-to-rail, they can't really reach the rails. Close but not actually reach.
Here's the very useful "Op Amps For Everyone". It talks about EVERYTHING related to op amps. My favorite chapter is #4 where the discussion centers on offset and scaling. How to get different output voltages for various input ranges.
https://www.cypress.com/file/65366/download