I use inkscape - it is a vector drawing program, and the Bezier curves feature lets you quickly modify and iterate the designs. The result can be exported or simply copied into a CAM app - e.g. lightburn for me to cut the design on the laser. Or before I had the laser I just printed the design with a regular printer. Of course that is 2D only.
its an open source free program, its not Knife specific, but an engineering 2d -3d modelling program. It has tones of guides on the tube and in forums, articles etc.
For me and the basic things I am doing a pencil and paper is a bit faster.
It is good though when you get the model and can orientate in 3D. see handle shapes in 3d etc.
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