The tool PETSCII2BASIC, in combination with Marc's PETSCII Editor, is probably what you are looking for. The editor allows you to draw a PETSCII, and PETSCII2BASIC converts it into BASIC code, taking care of printing the PETSCII characters correctly.
To use the toolchain,
- draw or import your image in Marc's PETSCII Editor and save it, you get a file filename.c
- run
PETSCII2BASIC.py filename.c
to generate a.PRG
file based on the filename containing a BASIC program that can be used on a C64 (native or emulator)
PETSCII2BASIC.py -?
gives you several options, including starting line number, line number increment, and other output formats.