You can not actually get a 3D drawing done with a 2d device. Since obviously that device only draws in a plane and you would need to project things onto something.
So all applications that you have a painting tool in 3D will suffer from same not designed to paint in 3D. As this isn't a limitation of the tool itself but the input and output device attached. A 2D device is limited to drawing on a projection of some kind.
The grease pencil is not a unique tool though. Most, DCC* 3D applications have a similar tools. Grease pencil is meant to annotate your animations. For example Maya has paint FX which can do quite a bit of complex shading and accepts tablet pressure etc. And it was meant to draw in 3D. But again the input device is limited to 2D so you can not arbitrarily paint in stuff in 3D
* DCC stands for Document Content creation and means graphics suites as opposed to CAD applications.