Set up and pose your 3D figure, in Poser 12 or 13. Use this Disconnect bump maps script and Poser render preset for P13 to get a clean old-school Firefly ‘line-art only’ render with ‘the speckles’ removed, rendered at maybe 1800px. The advantage of this, over Poser’s Comic Book mode, is that Firefly shows all lines.
Reduce it to 768px, take it into a good Stable Diffusion 1.5 model and use with ControlNet ‘Canny’ and suitable prompts (seen here). Here the free model/checkpoint is ADAM v4.5. Don’t forget Clip Skip 0, which seems to help in getting a plain background.
The 3D figure used here is from Nursoda. Very difficult to get the hippy ‘pebble glasses’, and the head shape and hair ‘go manga’. It’s also difficult to prevent SD from trying to make everything female. If you could find a Poser character which didn’t go manga/female, and which 99% kept the shape/outline, then you could use a colour render from Poser as a base colorising blending-layer in Photoshop. Doing that could give you consistent colouring for comics etc.