Some people hate RH and some love it, and there's more than just one kind of yarn, some are softer than others. Best thing is to try out different yarns for different projects and see what you like. A hand wash only yarn wouldn't be a good idea for something that needs to be washed frequently; you probably want the acrylic yarn for the toys.
Fingering or sock, worsted and bulky refer to the thickness of the yarn, also called it's 'weight' which has nothing to do with the weight of the skein. A worsted is a medium thickness and suitable for a large variety of projects. Fingering or sock weight (these are about the same thickness and are used interchangeably) can be used on small needles for socks, or larger needles for lacey items, and sometimes on in between needles for baby sweaters or hats. Bulky is fairly thick and is usually used for heavier scarves or hats, sometimes sweaters.
If you have a craft store like Joanns, Michaels, AC Moore or Hobby Lobby near you, just go visit their yarn department. Pick up and feel different kinds of yarn and see what you like and see how different they are from each other.