Several embroidery programs with digitizing function, such as the Janome Digitizer Pro software can be used to "digitize" JPEG pictures (.jpg) and create embroidery designs. The process (essentially jpg to sew conversion) is not perfect, but the only way how a vector-like image can be made from bitmap template. Without the digitizing function, you would have to manually create the design based on the drawing.
Open JPG file Open SEW fileAn embroidery designs manager
An embroidery design tool from Janome
An easy embroidery and apparel decoration design software