you could always draw it on paper, color it with an artists marker and then scan it. although that wouldn't give the effect you probably are looking for. i know advanced user use some kind of fake pen with a mat hooked up on their pc and they draw using the little pen and it shows up in your editing program. kind of like using the drawing tool in MS Paint but using a fake pen you can physically move. as for coloring, adobe photoshop really.

draw the pic, ink it then scan it as line art. Color it in photoshop or the program of your choice for what I think your talking about. If you really want to draw on the computer, its crazy hard.