If you can draw, that is just a hop, skip and a jump from being able to use 3d modeling software. While it's true they can be very intimidating, there are some impressive resources available to figure out all kinds of software to help get the job done. I've been using Blender for a few years, and I got started with free videos on Youtube, and recently I have been teaching myself Fusion 360 with similar videos and there are even videos made by prop people for prop people!
As for learning about 3d printers, I'm not an expert, but I have done a lot of research and am more than willing to answer questions. Inside of a year I've gone from wanting a printer that did everything for me to starting to build one from scratch! Now, it doesn't help that there are a lot of different things that get lumped under "3d printing" based on how they go from "not the thing I want" to "the thing I want," but they all have a few basic things in common.
If you are interested in learning CAD (and I recommend CAD for prop making. Not that Blender isn't a wonderful program, but I have consistently run in to issues with having to scale the .STL files in the program that runs the printer after trying to do that all at the front end) I would recommend checking out a few of the following:
Chaos Core Tech - https://www.youtube.com/channel/UCVmyytnqQrcTg1WRFXTo14Q/videos
He started out in tinkerCAD and moved on to Fusion 360 (as well as a few other programs) but he has some good "how to" videos that show how to generate shapes in the computer, and some good tips on how to deal with "the thing I wish to make is too big to fit in my 3d printer!" specifically making swords.
Punished Props - https://www.youtube.com/user/punishedprops
While he doesn't exclusively do 3d printing prop videos, for a while he did a series on 3d printing props. He's now decided that it's enough of a regular tool in his arsenal that it would be like doing a special series on his dremel or sand paper. Still, some good stuff there, and he himself talks a lot about how little he knows about 3d printers. I HIGHLY recommend his recent series about turning a cheap (at the time $165) 3d printer into something suitable for prop making, and on his second channel he has a 2 hour 35 minute video of making the Nuka Cola Thirst Zapper in Fusion 360 that was fundamental to my feeling confident enough to try my hand at this prop.
CHEP 3d Printing and Electronics - https://www.youtube.com/user/beginnerelectronics/featured
He works mostly in TinkerCAD which is like Fusion 360's younger brother, and mostly does practical functional things with 3d printing, but I like him because he defines the problem he's going to solve, explains how to use the tools to solve that problem, and shows how this is sometimes an iterative process. I never fail, sometimes I just quit before winning.
As for learning about 3d printing in general (with an eye towards FDM/FFF printers - the cheaper ones that use spools of filament) there are LOTS of 3d printer channels of varying usefulness for learning. These are a few I've found the most helpful.
3d Maker Noob - https://www.youtube.com/channel/UC2Tc0TsvFxC83zF1w5x1PWQ/featured
His "Noob's 3d Printing Guide" series is mandatory watching, IMHO. He does a lot of live build videos where you can watch someone put one of these machines together, and in general I think he's an honestly helpful guy.
3d Printing Professor - https://www.youtube.com/channel/UCJk5KVaJVBEEl_jP5gKjoDw
His 3d Printing 101 videos are also (mostly) mandatory viewing IMHO, especially "8 questions before buying a 3d printer" and his Modeling for 3d printing videos do a good job of explaining the limitations of 3d printing related to supports, bridges, and overhangs.
There are some others, but those are the channels that made the biggest impact on my own 3d printing skills. if you have any questions, though, feel free to hit me up directly! I love teaching, and I am glad to contribute.