There's a bunch of options for that. The 'easiest' is to use Handwriting mode on the Samsung Keyboard (which you can also have sprung up if the option to use that when you hover the S-Pen over a text input field is enabled).
Thanks. Going to try through the older Snote apk I have but haven't downloaded to phone yet in attempt to get action memo back. But the other suggestions are helpful, too.
Once you create the notes, however, it will depend on where you created the note. Samsung Notes, a VERY watered down version of what S-Notes used to be, unfortunately, removed such feature (they actually removed it from S-Note a couple updates before they discontinued it). But you can still search handwritten text from the phone search, so it is somewhat converting to text (or at least recognizing the handwriting into text). OneNote and (I believe) Evernote still allow you to select handwriting and convert to text. OneNote also allows you to search the notes by recognizing the handwriting, even if you haven't converted it to plain text.