I don’t know what’s out there these days as far as programs that generate illustrated workouts – I don’t really have much need for that anymore. But I did have a program (some years ago) that I used for that – BSDI. I know they’re still around & there was nothing about it that I didn’t like – fitness assessment, programming, etc. I’ll bet they offer much more today. I’m sure they have a website – check it out (BSDI).
I assume that you have seen the workout builder here on this website?
Personally, I use a word processor with pictures that I take of my clients doing the exercises. I use the table function to pair the picture with the description.