For the mono system, you can just use line drawing characters and just echo them to the screen, but it would be kind of slow. For color systems you can do similar, but using ansi codes to change the colors (you have to load ansi.sys for that to work).
For better speed, I remember back in the day using "drawing" programs to create ANSI graphics for BBS use, and some of the programs had an option to save the ANSI image as a binary or com file, and those would draw the screen almost instantly. If my memory is working right, one of the popular ones that would do this was AcidDraw.