It does but not into great detail. Basically if you know OpenGL ES Android has very strong support for it. Furthermore latter versions of Android or going to add a simpler and better 3D support as well in Android 3.0. Check out
http://developer.android.com/sdk/android-3.0-highlights.html
"Hardware-accelerated 2D graphics
Android 3.0 offers a new hardware-accelerated OpenGL renderer that gives a performance
boost to many common graphics operations for applications running in the Android framework. When the renderer is enabled, most operations in Canvas, Paint, Xfermode, ColorFilter, Shader, and Camera are accelerated. Developers can control how hardware-acceleration is applied at every level, from enabling it globally in an application to enabling it in specific Activities and Views inside the application.
Renderscript 3D graphics engine
Renderscript is a runtime 3D framework that provides both an API for building 3D scenes as well as a special, platform-independent shader language for maximum performance. Using Renderscript, you can accelerate graphics operations and data processing. Renderscript is an ideal way to create high-performance 3D effects for applications, wallpapers, carousels, and more."
Once again though its worth repeating that if you know OpenGL ES your going to find doing OpenGL in Android pretty straight forward.
