Is there any android support for bicycle sensors?
Not aware, but a quick check in the playstore shows there are several bicycle apps supporting "ANT+ sensors" for speed and other things. Take e.g. a look at IpBike ANT+™ Bike Computer, ANT+ Bike Display Demo, IpBikeKey, and others. Starting point: ANT+ Playstore search :)

Please note that, as Ifor pointed out in his comment, that this requires special support from the Android device's hardware. Details can be found e.g. at the IpBike page.