AWS has free services which is good for learning (and lightweight apps). I don't know details about the other vendors you mentioned, although Azure is a Microsoft product and a lot of cloud systems are based on Linux, not Windows.
Taking AWS as an example, though, there are quite a few cloud services - actually a confusing number if you count not only cloud app hosting but also support services like Elastic Storage.
But going from largest to smallest, you have something like this (I may be a little out of date here):
1. Full VM instance. The free VM is a single instance with about 1GB(?) RAM and has no expiration limit.
2. Container instances. I'm not sure what the product name for this is
3. Application instances. Elastic Beanstalk. .Instead of a whole VM or generic container, you get a ready-to-use
Tomcat server, for example.
I have an O'Reilly book on the Amazon cloud myself. Probably should pull the updates. I love O'Reilly because they don't copy-protect stuff - meaning there's no danger my library will evaporate overnight thanks to circumstances I cannot control - and because their ebooks come with free updates. However there are probably other books out there by now, since my book is at least 5 years old.
Incidentally, if you want to learn Cloud from the inside out, you can set up your own cloud using OpenStack, which is a fully open-source cloud system developed by NASA among other well-known contributors. It's not a task for the faint of heart, though and
you should have at least 3 servers for a minimal configuration: one storage server, one compute node, and one control server. Or, I believe that there's a Vagrant box that can launch all 3 as virtual machines, which might be easier.
Some people, when well-known sources tell them that fire will burn them, don't put their hands in the fire.
Some people, being skeptical, will put their hands in the fire, get burned, and learn not to put their hands in the fire.
And some people, believing that they know better than well-known sources, will claim it's a lie, put their hands in the fire, and continue to scream it's a lie even as their hands burn down to charred stumps.