How do I scan in an image and then have the GloveForge cut it our

The SVG file format can contain both bitmaps (like your scanned in drawing) and vector information (which you would need to create a cutting line for the Glowforge). There are many tutorials in the Glowforge Tips and Tricks category that cover Inkscape operations like this (go to the 2D Vector Design section). Here is one to get you started:

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