Any camera with manual controls will allow you to shoot like that.
The trick is "M" mode... stop down your aperture to f/8 or smaller, and your shutter speed to 4 seconds or slower. By keeping the shutter open longer, you'll be able to write messages, draw doodles, or make assorted other crazy streaks of light in the frame before the exposure ends.
Try it tonight! "M" mode, ISO 200 or lower, aperture of f/8-f/16ish, and a shutter speed of at least 4 seconds long. Happy shooting