Autoplant, formerly by Rebis, now under the Bentley umbrella perhaps.
All depends whether you simply want a drawing illustrating pipes, or a model
with "intelligent" entities that know they are pipes, flanges, valves etc.
If the latter, you can create Bills of Materials and isometrics from the
initial model using Autoplant or similar software - so more up front work
but superior output/deliverables (and much higher cost of course).