I needed to do this myself, and most of the solutions I found were either outdated or I found them unacceptable. Some of them led me in the right direction, though. So I figured I would share what I found. It's actually not all that difficult to do.
<?xml version="1.0" encoding="utf-8"?>
<ContentPage xmlns="http://xamarin.com/schemas/2014/forms"
xmlns:x="http://schemas.microsoft.com/winfx/2009/xaml"
x:Class="Namespace.Class">
<AbsoluteLayout>
[Your ListView or other content goes here]
<Button WidthRequest="56" HeightRequest="56" CornerRadius="28" Margin="10"
AbsoluteLayout.LayoutFlags="PositionProportional" AbsoluteLayout.LayoutBounds="1.0,1.0,-1,-1"
Image="[Put the image you would like to use for your icon here]"
Command="{Binding [Command to be called on click]}" />
</AbsoluteLayout>
</ContentPage>
This creates a floating action button that follows the material design guidelines and looks like it belongs on Android.