I would differentiate “doodling” from “drawing” in that doodling has no goal other than to doodle. If you have a plan going in, it’s not a doodle.
Personally, I find that I’m usually much happier with the results of a “just start drawing and see what happens” doodle than if I try to imagine something and then draw it.
Doodles are playful.
I love doodling. Here’s some of mine.
Spray paint
This was my first go at drawing with spray paint, and I’m pretty happy with it! You can see the big arc on the right (with some extra shapes) where I was testing line weight and spray patterns. I used Montana Gold cans from a local art supply store.