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Yes, because you can finger paint and your fingers hold the pencil when you sketch and draw, or hold the brush when you paint.
A drawing tool is like a pencil or paint brush etc. So that it helps you draw.
get a pencil and some paper and draw a dove with the pencil onto the paper
Depends with what what material pencil and pen will work but easy to remove. maybe you could draw by scratch or cutting it... or use paint. Just make some tests and find out.
I'm assuming that your using pencil on canvas is in preparation to paint on that canvas, not to execute a pencil drawing on canvas. Assuming this, here is something to consider. Given that pencil could just dirty up the paint you lay on top of it, why not just lay in your sketch/underdrawing with some thinned down paint, using a (filbert) brush?