You can develop and run your Kivy program on a desktop OS. When you need to test Android-specific parts of your program you will have to create an APK and install it on an emulator or a real Android device. Based on recent reports, Genymotion does not work with Kivy. However standard Android emulators will work as long as you set them to use the host GPU.
You might also get away with using the Kivy Launcher app to run your code on Android. This does not require an APK, but you will need some way to move your code to the device or emulator.