You're confusing the concepts. Fulton is talking about singular points (double, triple, and so on). If you write the polynomial you have in the stated form, you get
$$
F=Y-X^3=F_3(X,Y)+F_2(X,Y)+F_1(X,Y)
$$
where
$$
F_1(X,Y)=Y,\quad
F_2(X,Y)=0,\quad
F_3(X,Y)=-X^3
$$
which means that $(0,0)$ is a simple point. The tangent is indeed the line $Y=0$. When you compute the intersections, you solve
$$
\begin{cases}
Y-X^3=0\\
Y=0
\end{cases}
$$
which gives $X^3=0$, so you conclude that the tangent and the curve have intersection number $3$ at the origin.
A different case is that of the Folium Cartesii,
$$
F(X,Y)=X^3+X^2-Y^2
$$
where, with notation as before,
$$
F_1(X,Y)=0,\quad
F_2(X,Y)=X^2-Y^2,\quad
F_3(X,Y)=X^3
$$
Then the origin is a double point and the tangents are given by $X^2-Y^2=0$, that is, they are $X=Y$ and $X=-Y$. A double point with simple tangents.