King of Fighter 12 sprites, which are regarded as being high quality, were made from 3d models. They first animated 3D models, selected specifics frames, then traced sprite over those.
In the past this was called roto scoping and used to capture outlines and movement of real objects for animation. The end result is still a hand drawn and shaded object instead of just a screenshot of a posed 3D model.
https://kofaniv.snk-corp.co.jp/english/info/15th_anniv/2d_do...