canvas-free-drawing is a TypeScript package that allows you to draw in a canvas HTML element, straightforward to use and extremely lightweight (~11KBs).
I initially started to work on this package for another project because I didn't find a good alternative that fit my needs, being clutter free and simple to use. It's built in TypeScript and it has no dependencies, you can just get the minified file and link it your page to make it work, you can also include it in your React or Vue projects.
Features:
You can find the docs here!