A simulator is the best, cheapest and fastest way to learn IMO. I say fastest because you are willing to try stuff o a sim you would not even think about trying with your model. The only way to learn new things is to try new things. Once you pay for the sim crashing it is free. Once you buy the helis, and you have quite a collection, you have to pay lots for the crashes.

My 6 year old daughter solo'd on planes her 5th trip to the flying field and I know that is due to the year or so she spent flying the simulator first. Kinda funny she has no problem flying planes, but gets mixed up when an R/C car is coming towards her.