Mechanical abrasion is an extremely simple, rapid, and low cost method for deposition of carbon-based materials onto a substrate. However, the method is limited in throughput, precision, and surface compatibility for drawing conductive pathways. Selective patterning of surfaces using laser etching can facilitate substantial improvements to address these current limitations for the abrasive deposition of carbon-based materials. This study demonstrates the successful on-demand fabrication of fully-drawn chemical sensors on a wide variety of substrates (e.g., weighing paper, polymethyl methacrylate, silicon, and adhesive tape) using single-walled carbon nanotubes (SWCNTs) as sensing materials and graphite as electrodes. Mechanical mixing of SWCNTs with solid or liquid selectors yields sensors that can detect and discriminate parts-per-million (ppm) quantities of various nitrogen-containing vapors (pyridine, aniline, triethylamine).