You mention "drafting software" which often implies the need to make precise 2D drawings that include the ability to create engineering drawings that meet drafting standards including dimension lines, line style (dashed, center lines, etc.) as well as notes and standard symbols. You then go on to say you want to "stencil it on the actual work piece." This implies that all you really need is a 2D line drawing (no dimension lines, etc.) printed at full scale. Of course AutoCAD can address this but unless you are a student you cannot get a free copy and the learning curve is steep.
If all you want is good linework you could use a variety of drawing software, A friend of mine who does not have access to CAD software finds Power Point great for making scaled drawings! It has grids, easy construction of standard shapes and and an easy way to create and edit splines.
lee.minardi
