You can more or less do this already with Poser renders, and the result has less of a 'made by machine' look. You just need to accept that it's not all going to be done in one-click. At least three renders are needed, though these can all be real-time. First output real-time lineart, then real-time color flats, then a real-time shadows render. Take these to Photoshop, filter the flats (two times if needed), blend in the line-art on top, subtly ease in the shadows render. Here is a simple three-render blend, with the flats filtered twice in Photoshop:

There are also the possibilities of adding things like a Sketch render that was run into the lineart only, to give you more 'hand-drawn' lines. And if you want to get really fancy, you can do things like re-texture in the scene with the free PASS watercolor art shaders (now available again from the maker, who is now on the ArtStation market).

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Learn the Secrets of Poser 11 and Line-art Filters.