There's a big difference between drawing (either on a computer screen or with a pencil) and mathematics.
From the mathematical point of view, the answer from John Hughes explains that there are more curves than formulae, so there must be some curves that don't have a formula.
But drawing is an approximate process -- the pixels on a computer screen and the marks made by your pencil are not precise representations of mathematical formulae. The graphs of mathematical equations are infinitely thin curves, which are impossible to produce on a computer screen or on paper.
So, suppose you give me a drawing of a curve. I could scan it to get a black-and-white bitmap image (a two-dimensional array of pixels). Let $v_{ij}$ be the value of the $ij$-th pixel, where $v_{ij}=1$ means black and $v_{ij}=0$ means white for $1 \le i \le m$ and $1 \le j \le n$. For each $i,j$, define a function $\phi_{ij}: [1,m] \times [1,n] \to [0,1]$ by
\begin{align}
\phi_{ij}(x,y) &= v_{ij} \quad \text{ if } x = i \text{ and } y = j \\
\phi_{ij}(x,y) &= 0 \quad \text{ otherwise }
\end{align}
and define
$$
\phi(x,y) = \sum_{i=1}^m \sum_{j=1}^n \phi_{ij}(x,y)
$$
Then the curve is the set
$$
S = \{ (x,y) \in \mathbb{R}^2: \phi(x,y) = 1 \}
$$
or, less formally, the curve has equation $\phi(x,y) = 1$. If you were to plot this equation (in system like Mathematica, for example), then the result would be visually very close to the original drawing, perhaps even indistinguishable.
But this representation is essentially pixel-based, which you said you wanted to avoid. It could be turned into a vector/line based approach, though. The functions $\phi_{ij}$ are not continuous, but you can replace them with sharp spike-shaped continuous ones. Then the function $\phi$ is continuous. You can visualize it as a landscape that has sharp ridges (with height $z=1$) that follow the original curve. We want the contour plot at height $z=1$ on this landscape. There are well-known techniques for computing these sorts of contours, either as polylines or as spline curves. One of them is marching squares. Polylines and splines are somewhat cheating, arguably, since they are functions that are defined piecewise. But, I felt free to bend the rules, since you didn't state them precisely.