Adobe Animate provides two main ways of animating, Tweening and Frame by Frame Animation.
Motion Tweening involves moving objects from a start point to an endpoint while letting the program animate the object BETWEEN those two points.
The object properties you can motion tween can vary from position, size, color, effects, filters, and rotation.
Each Object you want to animate MUST be on it's own layer.
Select (click) the Object you want to Motion Tween.
Go Modify > Convert to Symbol. (F8)
Give it a name and make sure that the type is Movie Clip.
Go Insert > Motion Tween or Right-Click and select Create Motion Tween.
If the default length is too long or too short, grab it by the end and drag it in the direction you want.
Move your Playhead to the end of the motion tween.
Grab your object and move it to where you want it to be at the end of the motion tween. (you should see a keyframe dot added at the end of a motion tween)
If you hover over the motion tween line with the selection tool, you can modify the path.
Switching to the subselection tool (white arrow), hold ALT and click on the end points to use handles to create more complex curves.
To produce a more realistic sense of motion, apply easing to the classic tween.
Click on the tween (purple line) and in the Tweening properties, select an ease type and settings.
To rotate an item, create your classic tween then click on the tween (purple line) and select a value for Rotate: in the tweening properties panel.
You can change the direction and enter the number of rotations desired.
IMPORTANT INFO
Motion Tweens are not limited to just motion, you can change color, rotate, scale, add filters (glow, drop shadows), etc.
You can create keyframes at any point during your motion tween.
If you want to move a keyframe that exists inside your motion tween, you must click on a blank keyframe elsewhere in your animation to deselect and then go back and select your keyframe and click and drag it to it's new position.