Does a program exist to draw logic signal waveform from csv data?
Your question is quite broad but here are a few pointers.

A convenient way to display data is Excel as the comment pointed out, although if you need to zoom / pan, or display lots of point, excel is quickly limited. (Been there...)

One of the best tool for data visualization is Matlab (and perhaps their open-source equivalent). With a few lines of code you will be able to plot your data on a chart and have powerfull zoom/pan functionalities.

Another approach would be to use the software processing which is the "arduino for display", with here some starting point to link hardware directly to your computer and display a graph. This would require more work to get the pan/zoom working but you would have your signal without the need of saving it to a file.

For a one-shot thing I would go with Matlab. If you want to make a tool that you would use regularly in the future, processing is probably the (easy) way to go.