The style You mentioned is called "Explainer Videos". There is plenty techniques that might be used to make such videos.
One would be that You record Your own voice first and then You try to make the drawings / illustrations match what You were just saying.
The other way is to have drawings ready and try to commentate over them.
Where it comes to software itself try exploring multiple options.
- Adobe Illustrator
- Adobe After Effects
- Adobe Premiere Pro
- Adobe Audition
The list mentioned above would be my choice If I would start trying to get into such things.
The direct answer to the question "What can I learn to make this kind of videos?" would be:
- Drawing and or illustrating
- Basic audio manipulation
- Composition in film
Or just try writing "How to make explainer videos" in any search engine for lots of material.