I am not sure myself
For now, I think it might be best to draw on paper, make it 3D looking (keep it simple- too much detail will cloud it up!)
Also you might want to use drawing pens, as they don’t smudge and come out on camera better than pencil
Finally, make sure you take a picture with good lighting and a decent camera, like a phone, not webcam.
(For online programs, you can probably ask someone like Killin, they might know)