You draw them using the tool of your choice - digital or analog.
You can always use a piece of paper and scan any drawing afterwards (or take a photo). And practically any graphics software has tools to facilitate images such as these.
If you are seeking some sort of automated, non-skilled, solution. I suppose any of the current artificial intelligence image generators could possibly come up with something similar. But you will need to experiment with various AI prompts to get what you want.