I used to use Figlet and TheDraw, waaay back when, to draw things like this (though nowhere near as good as these examples). Fun times.

These days it looks like PabloDraw might be the way to go.

[1] https://en.wikipedia.org/wiki/FIGlet [2] https://en.wikipedia.org/wiki/TheDraw [3] https://en.wikipedia.org/wiki/PabloDraw