He might be very anxious. It's a lot to ask of a kindergartner, to go to school and have to also go to an after-care program. (I know, many people have to do it. But it can be hard on a sensitive kid.) It is probably true that he is afraid of drawing something "wrong," you should talk to him about having three ideas in mind already, so when a free-drawing moment comes up, he will be prepared. (A cat, dog, house, tree, flower ... but prepare in advance.) Sometimes anxious kids don't attend to the teacher, but I would also get his hearing tested just in case.
I think he'll also pick up cues from you (as you worry, he'll worry; if you're calm and confident, he'll pick up on some of that, too).
I agree he sounds anxious, but your story reminds me of this series of books called "uncoloring" books. Instead of pictures to color, each page has a prompt that says something like "what are these people pointing at?" or "something's really scary under the bed" and you have to creatively draw something. My kids loved that book, but when I tried to get Tiger Cubs to do some for an activity many couldn't. They sat there looking stumped.
I wonder if you can order one from Amazon, or make up prompts of your own and practice creative thinking?
Secondly, when you say he doesn't "listen" do you mean he doesn't obey? Or do you sense he is actually unaware that the teacher has asked him to do something until she's said it 9 times? At that age, if you ask a child a question or tell them to do something that they don't know the answer to, they'll often ignore you rather than ask for clarification.