It can be a bit fussy, but works well --- unfortunately, there hasn't really been a vector drawing program focused specifically on stylus use since Futurewave Smartsketch (which became Flash by way of Futuresplash Animator).

As noted elsethread:

Wick Editor implements some aspects of the vector drawing from Flash: https://www.wickeditor.com/#/

If you're willing to consider a commercial option, Serif's Affinity Designer may suit.