I love (draw,drawing) anime characters; it’s my way to relax

Nice sentence. Both are correct, with a small nuance:

• I love drawing anime characters; it's my way to relax. (gerund, emphasizes the activity in general)
• I love to draw anime characters; it's my way to relax. (infinitive, emphasizes the action itself)

Other natural options:

• Drawing anime characters is my way to relax.
• I love drawing anime characters, and it's my way to relax.

If you’re aiming for a formal tone, avoid contractions: “it is my way to relax.”

If you want help with more variations or other sentences, tell me the context.