First question, yes:

graphics = {}
Do[graphics=Append[graphics,drawCommand],{timeValue,0,01.,.2}]
graphics

An alternative formation might also be

 Table[drawCommand, {t, 0, 1, .2}]

To the second question, it might help to know a little bit more about the language. Everything in the Wolfram Language is a function call, including loops like Do and While. This is very different than a language like C where a Do loop is purely about controlling the flow of commands.

The side effect of this is that all commands define their own output. Thus you need to look at the documentation of each command. Print is a bit weird in that it prints to standard out, but does not produce an Out[n] value:

In

1

In

Mostly, I would avoid Print statements accept for very low level debugging and creating logfiles from Mathematica scripts.

Print and Graphics interact with the front end differently. Print writes to standard out whereas Graphics produces possible output. The Do loop withholds output from its first argument. Try the following:

drawn = ConstantArray[Null, 5]

Do[drawn[[iter]] = drawCommand, {iter, 1, 5}]

drawn