If Java and OpenGL ES on an Android embedded device looks like a little too much of a learning curve for you from AS3 2D drawing, perhaps have a look at C++ and SDL. That way you can learn the C++ language in an easy manner without being bogged down unnecessarily with platforms and technology.
Then when you are ready for 3D, you can still use SDL but then also start looking at some examples of how to use it with OpenGL.
Remember, just because C++ allows you to do pretty technical stuff which is close to the hardware, it doesnt mean you have to. There are loads of libraries that are as high level and simple (or simpler) as those found in Java and AS3.
As an aside, I personally find OpenGL with C++ a lot easier than doing it with Java since Java's Garbage collection system doesn't really work with memory stored on the graphics card whereas C++'s RAII works great. Also converting java arrays into a format suitable for uploading to the graphics card is pretty awkward.