You can use different applications that are specialized for this purpose - there are available for local installation and those that are web-based.

Here are some examples :

Canva: This is a graphic design tool that offers a set of templates and tools for creating line drawings.

Adobe Illustrator. 

Inkscape: This is a free open source vector graphics editor that offers a set of tools for creating line drawings. 

Once you draw your drawing, you can use it for a variety of purposes - for printing or publishing on the web.

There are also many other options that you are better off searching for on the web. 

Although not really for this particular task, I would recommend that you familiarize yourself with the capabilities of Blender and Z-Brush.
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