In my last video, which is linked below, I showed how to draw a Grease Pencil object on a 3D object. Someone asked in the comments how to parent that object to another object, so if you move the object, the Grease Pencil object will follow.
This video demonstrates how to do that, and I then review an example file I created to show how the process would work with an animated Grease Pencil object.
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Parent a Grease Pencil Object to Another Object
If you don’t have time to watch the video, the quick answer on how to parent objects in Blender is:
Click the object to be parented.
Hold the Shift key and click the object that will serve as the parent so that both objects are selected.
Click the CTRL and P keys. From the popup menu, select Object.
The first object is now parented to the second object.