"KG-Chart" and "StitchSketch" are the programs to realize that dream.
This is a software to design a chart for a cross stitch, a bead weaving, and more.
There are two versions for MS-Windows and one iOS version:
For Cross Stitch (KG-Chart for Cross Stitch - MS-Windows)
To create a chart for Cross Stitch or Hardanger embroidery
For Bead Weaving (KG-Chart for Bead Weaving - MS-Windows)
To create a chart for Bead Weaving
Mobile version (StitchSketch - iOS)
This is a mobile version, for iOS (iPhone/iPad/iPod touch)