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All bonds contain a sigma bond and double and triple bonds contain a single bond each and 1 & 2 pi bonds respectively. The sigma bond is formed by the head-on overlap of two sp orbitals while the pi bonds are formed by the side-on overlap of the p unhybridized orbitals.
As for drawing (if you mean as in a lewis structure), you would just draw single, double, or triple bonds. To draw the actual bond, as the replier above stated, sigma bonds would be the head to head overlap of the s or p orbitals, whereas pi bonds would be the side to side overlap of p bonds.
For the difference between sigma and pi bonds, they are different in length and strength sigma bonds are longer than pi bonds and are weaker. Pi bonds are stronger. Also, in sigma bonds, the atoms involved can rotate. In pi bonds, they cannot.
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