Similar to Scott's answer there is also a 'Tweak' tool in Inkscape ( or W by default) that lets you distort a path by dragging over it, if you set the mode to 'Push parts of paths ...' (). However, I've found it to be somewhat finicky and a bit buggy.
An even quicker and less destructive method is using filters, though. There is even a built-in one in Inkscape with some variables you can play with. You can find it under 'Filters → Distort → Roughen...'. Note that filters do not change the underlying geometry and are only visual, so if you want to use it for laser-cutting for example, this won't work.
Anyways here are some settings I used to kinda recreate your reference:
And the result: