How do I draw something in Blender, but when I draw it, there's depth?

Hello, I want to make something in Blender where I have a rigged mesh that is a drawing with 3D depth. Something like the depth function in Toontastic 3D or when drawing in Paint 3D. Is there a brush or something to do that?


the closest thing that comes to mind is using blenders grease pencil object.
once placed you can go into draw mode to draw, and either go to editmode or sculptmode to make some tweaks. It can even be animated the traditional way( frame by frame) or rigged. Though i dont know if you can convert to a mesh with thickness applied.

Some info on blender official site:

a video i found:

or something like this:

but this works best with an external software to make the cutouts like krita