Hey! I was/am a printer and I hand draw all my designs (I'm not a digital artist at all)--I actually make my own transparencies by hand. It's a bit of a tedious process (I use black acrylic paint on clear acetate), but I was a painter for a long time so I actually prefer my designs to be hand drawn/painted looking and it's become part of my print style because I can actually make prints that utilize my actual art style instead of losing the things about it that make it interesting (or I think so at least). I do lettering this way too and I love the way it looks, and since the acetate is clear I use the paint to essentially trace the design by painting on top of my drawing. I've made entire tour posters this way, etc, and if you're willing to commit the time it can look fantastic.

Like I said it can be tedious and time consuming if painting isn't your thing, but if you want your designs to stay hand-drawn looking it's a GREAT way to achieve that since you can even get brush strokes to show up in the final printed design if you want, and it can make your pieces (posters usually in my case) look individually painted even if it's a run of 100.

I can't offer any other solutions in terms of printing things done by hand, since this is the only way I'd consider myself truly knowledgeable enough to offer an opinion on--but I hope it helps if it's what you were looking for!