I recommend Blender. Blender is the free and open-source 3D creation suite. It supports the entirety of the 3D pipeline—modeling, rigging, animation, simulation, rendering, compositing and motion tracking, video editing, and 2D animation pipeline. It's recently updated Toonshding is amazing!!
I am using iClone from www.reallusion.com for 3D animation which offers interactive GUIs and many features to avoid programming. 2D animation suites are also available. Both allow for toon/cartoon-animation including character creation/purchase, motion capture/purchase, and even 3D face creation from photo headshots. Have fun with the trials.