You can draw on an iPad with an Apple Pencil on the Procreate app, which you can use to sketch, paint, and illustrate.
Learning how to trace in Procreate is very easy and is a good way to get started in digital. Tracing from an image can be a good way to learn to use a stylus, a tablet's features or practice line art.
You can add brushes to Procreate by downloading .brush files onto your iPad, and then "sharing" them to Procreate.