is this possible? I have tons of drawings I would like to turn into vector or digital stamps but do I need to add a layer and trace over the pen drawing I uploaded? If not is a quicker simplified way of tracing over my original drawings? Is it similar to using Illustrator? Thanks

In many ways Inkscape is much more intuitive than Illustrator.
Have you tried "Path" - "Trace bitmap" - assuming that your drawings are scanned or whatever..

Thanks I will try it.