@JacobZeier1992 Pixel-art is made with intentional restrictions like small canvas sizes, limited color palettes and without antialiasing so the pixels are noticed.
Scribblemaniac already mentioned how you can work in Pencil2D to consider these artistic limitations. Anti-aliasing can be turned off in the mentioned tools (Pen tool). In the next version the grid size has been lowered to allow 1x1 pixel size visualization as well.
The example you’ve shown is a perfect example of a game sprite, which is simply the game development term for a raster image, which incidentally uses pixel-art style.
If you want specialized tools to make something like this, consider looking for the free software Piskel, Pixel-o-rama or Asesprite ($)