Grecian pots are covered in paintings. Greek and roman sculpture was considered one of the highest forms of art by Pliny.

Pliny said this of Peiraikos:

It is well to add an account of the artists who won fame with the brush in painting smaller pictures. Amongst them was Peiraikos. In mastery of his art but few take rank above him, yet by his choice of a path he has perhaps marred his own success, for he followed a humble line, winning however the highest glory that it had to bring. He painted barbers' shops, cobblers' stalls, asses, eatables and similar subjects, earning for himself the name of rhyparographos [painter of dirt/low things]. In these subjects he could give consummate pleasure, selling them for more than other artists received for their large pictures.

Polygnotus? Apollodorus? Zeuxis and Parrhasius?

That's drawing just from Greek history.