Milkshape is probably easiest for an absolute beginner since it is an all-in-one tool, but there are lots of IMO better tools for modeling/texturing/animating. I recently realized a very robust (ie. better than Milkshape) workflow that is completely free is to use Wings3D for modeling, Lithunwrap for texturing, and Pacemaker to animate and save to b3d file format. A low cost tool which is pretty invaluable for working with b3d file format is Ultimate Unwrap; you can use it to convert 3D art from virtually any tool to b3d file format.
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