You didnt state your Android device brand/model, but you need to find out whether its supports Miracast, and then use the Miracast function.
Roku supports Miracast and AirPlay2 for mirroring (remote display) and DIAL and AirPlay2 for casting (remote control).
Android/Windows devices usually support Miracast and DIAL.
If you are trying to screen mirror (Miracast), thats different for different devices: e.g. for Samsung devices, you'd slide down the Quick Panel and use SmartView and select the device you want.
If you are trying to cast (DIAL), you do that from within an app: e.g. for NetFlix and YouTube, select the "cast" icon and then the device you want.