Is it feasible/worth it for a software person to self-learn about FPGAs?

Can anyone, given the background, recommend a starting point? Ideally, maybe some free emulator-based resources to start off with maybe, and then some hardware that one could use at home to experiment with?

I also learn best with books, so if possible, some book recommendations (along with a brief prerequisites list/required background knowledge) would be most helpful.

Cheer!