You will need to add some tylose powder to the fondant to make it stiffer and better able to hold its shape. Just think of the fondant as modeling clay or play dough and make the animals as you would using those materials. Look through the galleries and look at pictures of what others have done on this site. There is really no wrong or right way to make these - do what ever gets you the look YOU want. Good luck and have fun.
I find I work best by looking through pictures and finding what I want my animals to look like, then I print the pictures out and sit down and go for it! there are tutorial for a few animals on youtube.com
Another useful resource is books on creating figures from clay. The baby jungle animals on one of my cakes were from a polymer clay book from the library.
I used Satin Ice fondant with some Wilton Gumtex powder mixed in to help it to harden faster.
I suggest looking at Lorraine McKay's work. (Aine2) She has some great tutorials. I started by using the Polymer Clay books as a guide. They are a great resource.
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