Kinesis Data Streams allows consumers to READ streaming data. And it gives you a plenty of options to do so. It is best suitable for use cases that require custom processing, choice of stream processing frameworks, and sub-second processing latency.
Data is reliably stored in streams up to 7 days and distributed across 3 Availability Zones.
Kinesis Firehose is used to LOAD streaming data to a target destination (S3, Elasticsearch, Splunk, etc). You can also transform streaming data (by using Lambda) before loading it to destination.
Data from failed attempts will be saved to S3.
So, if your goal is to only load data to Kinesis Data Analytics service with minimal or no pre-processing then try Kinesis Firehose first.
Please note, that you also would need to consider such aspects as cost, development efforts, scaling options, volume of the data when choosing a proper service.
Please take a look at the following AWS Solutions Implementation for reference:
https://aws.amazon.com/solutions/implementations/real-time-web-analytics-with-kinesis/
https://aws.amazon.com/solutions/implementations/real-time-iot-device-monitoring-with-kinesis/