We establish that Majorana fermions on the boundary of topological superconductors have only spin-triplet superconducting correlations independent of whether the bulk superconducting gap is spin singlet or triplet. This is universal for time-reversal broken (respected) topological superconductors (TSCs) with an odd number of (pairs of) Majorana fermions on the boundary. Consequently, resonant Andreev reflection induced by Majorana fermions only occurs in spin-triplet channels and always injects spin-triplet Cooper pairs into the leads. This spin-triplet condensate results in a spin-orbit coupling (SOC) controlled oscillatory critical current without a 0-pi transition in the TSC/SOC-semiconductor/TSC Josephson junction. The observation of this unique current-phase relation can serve as the definitive signal for Majorana fermions. Our study shows a technique for manipulating Majorana fermions based on their spin-triplet superconducting correlations.