Draw however you want with anything you want.
If you want to do animation with Synfig, and specifically want to do vector animation, you need to use something like Inkscape which is Vector Graphics software (also Inkscape exports to .sif file directly) or something like Adobe Illustrator.
And also you can think of vector art as drawing with the mouse because you create basic shapes and curves with Vector graphics rather than the drawing with brushes (in raster drawings). Vector has an unlimited resolution, so you can scale your animation to any resolution. Vector graphics is a set of mathematical instructions that tell the software how to draw (lines, curves, colors, etc).
For Inkscape tutorials, you can watch LogosByNick
After some practice, you can create anything in Inkscape.
Taking about AI tools I don’t know any 
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Also you can look at animations that are created in Synfig, by me (files are included)