The confusion arises because there is no easy way to distinguish that with torque the force is acting at right angles (or tangential if you prefer) to the distance measured, while with work the force is acting through the distance measured. So with torque, the multiplication should be a vector multiplication, not a scalar multiplication.
If that is too confusing, think of it like this…if you pull on your spanner lengthways, you will not undo the nut. You have to pull sideways.
On the other hand, if you pull sideways on a (miniature) train carriage, nothing will happen, but if you pull along the track it will move and you will have done work.
So whether we use pounds-foot or foot-pounds for torque, (or SI units) we really need a symbol in there that means that the force is acting at right angles to the moment arm. Otherwise it will always be ambiguous.
It gets even worse if you are looking at radio control servos, where they habitually leave out the distance and just talk about a servo being so many kg. (Yes, they use kg, not Newtons….)
On the motor thing, note that Jasons rule of thumb is fine for DC motors but does not apply to Induction motors.
John