draw is the base form. It's the form we find in the dictionary. It lacks inflection. That is, it's bare of extra sounds or words like, -s, -ing, -ew, called infection.
In English, the infinitive without to, as used with modal auxiliary verbs. In the sentence I must go to the store now, the verb go is a bare infinitive.
to draw is its infinitive form. The word to is called an infinitive marker. Don't confuse it with the preposition to. That's a whole 'nother word category. Now, if we remove the infinitive marker to, the result draw is called a bare infinitive.
Now, the sentence The kids draw well doesn't house a base form. It's a present tense verb and its inflection is covert (unseen, unheard). In English 3rd person singular, present tense verbs show inflection. Like this,
1st person: I draw
2nd person: you draw
3rd person: s/he draws
3rd person: it draws
1st person: we draw
2nd person: you (guys) draw
3rd person: they draw
Here's an example of a bare infinitive and a to-infinitive
Ex: Could you help me to wash the dishes? <to-infinitive>
Ex: Coould you help me wash the dishes? <bare>
Hope that helps.