Well, if you can draw your stick figures and you don't want to animate frame-by-frame, the only thing I can think of which would be helpful is Adobe Flash. Just google flash animation or youtube flash animation tutorials and that should give you an idea of what it's capable of(there are several cartoons out on tv now that are all animated in flash, so it's actually quite powerful if you know how to use it).
This may not be easier, per se, because you'll have to learn how to use a program(unless you know flash already), but once you learn it, it will definitely be easier than animating frame-by-frame.
On a side note, have you ever seen that disney channel show 'lizzie macguire'? They did something a lot like this with the main character of that show.