Most people who publish a book with a map typically use a combination of these. If you're the type who loves to make maps but have zero graphic design experience, then choosing a software you can use is the best bet.
Hiring a graphic designer is great for those who can afford it and need the map more for visual elements instead of enjoying the process of making it. Below is an example of a hand drawn fantasy map, colored in. You can draw whatever you want, wherever you want.
Hand drawn maps, for example, allow you to truly customize what's present. These are the primary options you'll have: The method you'll use to make your map largely depends on what you're looking for as a final result.