this is probably not the most efficient way of doing it, but i did something like this awhile ago.
The way i did it was to export a targa sequence at (x)fps(i used 25fps, but it is up to you, the higher the frame rate the more work for you). i then imported these into p.shop and traced the edges with a textured brush, discarded the original footage layer then reimported the frames. you end up with a shaky line drawing which can be as detailed as you wish.
Another option could be to do the same but use the filters inside of photoshop, ie a cutout filter with a crosshatch or similar overthat?
not sure what exactly you want it to look like as there are many different styles of ‘hand drawing’?
hope this helped in some way, but i am sure that there is a plugin that could help achieve this look, cos i am certainly not a genius!
Hayden
New Zealand