I scanned the drawing that I had made. Then I re-sized it in photoshop to fit the canvas that I would be working with. I then printed it out onto another piece of paper and marked up the back of that paper with charcoal. Then I dragged a knitting needle over the lines on the paper to transfer the charcoal onto the panel.
The finished result looks like this, a blank canvas with the lines from the cartoon on it. The charcoal won't be visible in the final painting.