I don't know GIMP's toolset, but I'd assume there's some sort of Pen Tool. Pretty much everything should be drawn with that (unless it's a basic shape, in which vector shape tools can be used).
Nothing should be "drawn" by hand, unless you want that sort of look. The Pen Tool (or whatever analogous tool GIMP has) is what you use to create vector shapes. Vector shapes are key because you can continuously edit them with no loss of quality; whether that be to change the design or to tweak alignment across the UV layout. It also means you can change the colour really easily without having to deal with anti-aliasing screwing things up. This is especially important when it comes to creating alpha channels or the MAP texture for tweaking the surface finish of various elements of your design (which is also the reason I try to use vector smart objects for all logos, too).
I took a quick skim of the early part of the video you linked, and the author uses the pen tool to create the shapes.
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