Nowadays, numerical control (NC) technology, which began with the two-axis milling of aircraft wings at MIT in 1968, has been employed in various fields. Due to its remarkable capabilities, numerical control has recently entered the realm of art as well. Interior architecture, sculpture, painting, and many other areas have found applications for this technology. In the present study, the combination of numerical control technology and computer-aided design (CAD) is used for two-dimensional drawing and painting. The two-dimensional movement of the pen is achieved using two stepper motors and synchronized control of their rotation angles. The implementation of the motion control algorithm is initially performed in Cartesian space and then transformed to pseudo-polar space. Furthermore, this research investigates the design of a nozzle holder base for paint spraying and the creation of curves using this nozzle and the ability to colorize and draw both discrete and continuous curves on different surfaces is examined. Finally, the commands generated, corresponding to the positions of the motors and the control mechanism of the paint spraying, are converted into motion pulses using an Arduino board, CNC shield, and GRBL (G-code Real-time Boot Loader), enabling the desired shape to be drawn using the paint spraying nozzle. The capabilities of this CNC painter are shown by practical examples.