As Human-Robot Interaction (HRI) and Human-Robot Collaboration (HRC) integrate into society, there's a growing need for flexible, safe, and cost-effective methods to evaluate HRI and HRC from a human perspective. Current evaluation techniques, which often rely on physical hardware, are limited by high costs, safety risks, and low replicability. To address these challenges, we introduce Platform for Evaluating Human-Robot Collaboration and Interaction in Virtual Environments (PEHRCIVE), a software tool built with Unity that leverages Virtual Reality (VR) to provide a safe, flexible, and low-cost research platform. PEHRCIVE provides a customizable, immersive VR environment for HRI and HRC research, based on a collaborative interlocking block assembly task, three distinct collaborative robots (Kuka LBR iiwa, Rethink Robotics Sawyer, and Baxter), and sequential and simultaneous collaboration modes. Features include an easily modifiable external configuration file, a robust data logging system with timestamps and task-specific metrics, and customizable answered-in-VR questionnaires for data collection. PEHRCIVE was validated with 36 participants by collecting physiological and psychological data and responses to the Godspeed Questionnaire Series and VR Presence questionnaire. Participants reported a high sense of presence and a positive VR experience, confirming the platform's effectiveness as a research tool. PEHRCIVE facilitates the design, testing, and evaluation of HRI and HRC experiments more efficiently and safely, accelerating progress for the research community.