Unfortunately all of the menu navigation in the game must be done with the uDraw tablet, though you can use your finger as the pen by mimicking its function, by moving your finger around and then lightly pressing where you want to select and releasing your finger from the screen immediately after. (This doesn't work when drawing for some reason.
From the main menu select 'Customize' and then Pictionary Man, in the new menu press 'Edit' which will take you to the drawing screen. You do not have to draw anything just simply press 'Done'.
With that one saved press the little right arrow below the Man to select a new Man to draw upon and repeat the editing steps.
Once 10 are created the achievement is yours.