theres a few main areas you need to practise.
illustrating your idea to make images for reference
designing the actual model in polys or the meshwork
texturing or UV mapping the 2d textures to your model
animating the model and exporting it for your game.
bruno Id invest in a program called
milkshape to create 3d models on a budget.
its only $20 for the current version.
then id get
character fx for a slightly better animation process.
another cheapy for $20
lithium unwrapper is a great cheapy also for making the uv map so the texture sits on it accurately
You will need a 2d image editing program to create the skins so Id reccomend a visit to your local magazine or newsagency and keep and eye out for the program
paint shop pro. Version 5 is currently free on magazines here in australia, its a poor mans photoshop but its a good alternative.
all of these programs are easily found with a search of the names in
http://www.google.com
the rest is really determination and artistic talent and a lot of practise.