Depending on it's context they can mean a couple of different things. When talking about art with pen and paper, I could ask "Do you prefer drawing with a pen or pencil?". I could use Draw as well, but I would have to add another word. "Do you prefer to draw with a pen or pencil?" and they would be the exact same question with no change in meaning. If I were in a classroom, and someone walked in while a bunch of students were doing an assignment. I might say "shhh, the students are drawing right now". In this case an action is being performed. I could NOT use "shh, the students are draw right now" and if I did I would look like stupid. Now if the person entered the classroom before the students started their assignment, I might say "the students about to draw, please keep quiet". I could also say "The students will start drawing soon, please keep quiet", but only because I'm talking in future tense. Run and Running are similar, and many others.

This is the way I see it: Drawing can be both an activity and an art form. So it’s possible to prefer drawing to painting, for instance, even though you don’t yourself draw or paint. So if you say “I prefer to draw” you are making it clear that you yourself draw.