If you just want to draw some graphics and display them on the NES (this is the first thing I did waaaaay back when I was getting started), you can use the tile editor to create the tiles, and then a program to arrange them as in a NES screen. There is an old program that does this called
NSA (NES Screen Arranger), and I believe tepples has
some tools for that too. I've never used tepples' solution, but I believe that NSA includes some code to display your creations, so that you can assemble a ROM and see the results in an emulator even if you don't know how to code. That should get you started.
You gotta know that the tiles are just these small 8x8 pixel blocks that are used to compose bigger images. Each of them can only use 4 colors (3 + a transparent one), but by using palettes, these 4 colors can be anything you want. Games can arrange the tiles however they like, so there is no reason for you to think about "16x16" or things like that now. I suggest you run a few games in an emulator with good debugging capabilities, such as FCEUXD, and enable the PPU viewer (will show you tiles and palettes) and the name table viewer. Try to understand how the image is formed from those things.