Mm. I use CS5.
I hold the shift key with the pencil tool to create panels (forces the line to be straight- no matter how off course you get), and once I have the panels made, I just use the brush tool (varying sizes, generally no smaller than 4 and no larger than 10 for most parts) to draw whatever I want in. I spend quite some time doing all this, but then again, I am newby, so someone with more experience will be way faster.
I just made a Panel on PS. I'll make a poll see what people prefer.
Also, did you know that the opposite side of the Wacom pen is an eraser? It automatically switches to the eraser if you flip your pen over. Most people don't know...