Here's the link to the breakdown/tutorial of this
My submission for the GreyScaleGorilla 5 second project "Nothing But Cubes"
I've seen a few animations that looked hand drawn. I thought I'd give it a shot the way I think it's done;
First step I did was to go into Cinema 4d and animate a few sweep nurbs on a spline to get the basic shapes. Then I went into After Effects and hand keyed ever frame of shape layers.
For the text and built up cube I found a great little trick the other day. The animate drop down in each shape layer has a "Wiggle Path" section. Good stuff.