These are called one stroke, or monoline, fonts. Back in the day these existed, even in corel draw and illustrator*. But they have been since then deprecated because nobody used them. Well not quite nobody, engineers have found some quite good use for them. They shine if you need to laser cut or engrave with a mill. So you can find these in autocad, and other engineering applications by default.
Now technically, there are true type fonts that can do this by cheating. It is just that nearly every engine out there reject them or exposes the cheat, because they violate the now imposed outline rule. So they fail suddenly and spectacularly at times, or just dont fulfill their promise. You can find a set of such fonts here
Which is why a set of tricks exist like the Hershey text plugin for Inkscape, and monolinetext for illustrator.
Personally though i roll my own monoline fonts because then i get what i want that way. Here is the latest one i made about a month ago (it took me about 4 days to do these in a text editor, this one is based one the ASME drafting font spec. I added western european support while i was at it). I still need to implement tracking.
* Yes the font engine of 1980's and 1990's was more versatile.