"To inscribe (a line or lines) with a pencil or other marking implement" and "To make a likeness of on a surface, using mostly lines; depict with lines" are two definitions of the word "draw" from the third edition of The American Heritage High School Dictionary.
Drawing is emulating the seen or perceived image. An individual with astute skills of rendering (another term for drawing) is a person who pays attention to details. What makes a person an individual is the manner in which he or she views the situation they are presented with. What may be a masterpiece for one person, may be a splatter of paint for someone else.
If you can sign your name the same way (or nearly) each time you perform the act, you are capable of drawing.