Looking to get into Mobile Development, which is the best platform?

Looking for objective opinions concerning Mobile Development.

I would like to develop apps for myself or clients, but avoid the online ‘stores’.

I heard that all IPad/IPhone development needs to be approved by Apple and can only be sold through the Apple store, is this true? Is there any way to avoid this if I want to develop an app for myself?

Also heard that Android apps don’t have to go through Google, and you can distribute your own apps, and sell them yourself.

Just looking for some advice.

Thank you