Best Way To Learn How To Make 2D Educational videos? Tips?

Hello animators! 

This is my first post so let me quickly introduce myself...

I'm 30 years old, living in Montreal and have always had an artistic side. 2 years ago, I started this self help website where I help people overcome their social anxiety. I make lots a videos on youtube using camtesia (which I absolutely love). Currently, my videos are just of me speaking in front of the camera with cut-to-text to better explain concepts. But I want to start making my videos entirely animated because personally, I learn new information (especially complicated concepts) when I can see them visually. Nothing too fancy, just simple 2D animations.

Here are a few examples of what i'd like to work my way up to being able to create (I think they are called "explainer videos):

https://www.youtube.com/watch?v=hMS75_SwA1Q

https://www.youtube.com/watch?v=dBZyFMd6La4&t=93s

I'm a total newbie when it comes to animation, but I really want to learn.

My question is this:

What is a good beginner program that would allow me to get my feet wet and start getting the jest of creating animation videos that I could post on my youtube channel?

Preferably, I do not want something that is very limited, I'm totally fine with having to learn a program (especially if there's a lot of how-to videos on youtube explaining how to use it.

Anyways, which everyone the best!