Rough.js is a light weight (~9kB gzipped) graphics library that lets you draw in a sketchy, hand-drawn-like, style. The library defines primitives to draw lines, curves, arcs, polygons, circles, and ellipses. It also supports drawing SVG paths.
There’s a lot of nuance to this, too. For example, there are 5 distinct fill styles (hachure, solid, zigzag, cross-hatch, or dots) and it supports Web Workers with the optional Workly library.