Will this work on android devices like Samsung?

They can have an iCloud account sure, but the only thing they'll be able to access thorugh family sharing on an Android device is an Apple Music subscription through the Apple Music App for Android, and iCloud Storage sharing through the iCloud website.

You won't be able to share Apps (iOS apps don't work on Android and viceversa) or purchases like music, movies and books.

What exactly are you trying to share to the Android device?

Since there is no Apple TV App on Android devices, the best they can do is access the Apple TV+ Subscription through the tv.apple.com website.

In that case, yes, you can use an Apple ID on the Android device to do that, and you can share the subscription to it with Family Sharing.