I heard that JavaFX is good for developing Rich interactive 3D web responsive pages.
It's not. Using Java as part of web pages has been obsolete for years, irrespective of API. I believe JavaFX apps can be deployed via JavaWebStart, but I wouldn't call that "web pages".
I want to know which API is the best to develop the Desktop 3D application?
There rarely is a single best of anything. I advise to compare JavaFX, JOGL and LWJGL to see which one satisfies your requirements, and which one you like best.