My late mother used to do the most amazing embroidery with her antique singer machine. As you know those old machines only sew straight stitches.
I used to watch her for hours but I could never understand how she did it. I recently realized that you need to use a free motion foot and some practice. The rest is pretty much like doodling with a needle.
I used a design from the coloring book I recently published. You can find it in my s
tore at 
gunksdesigns.etsy.com or at gunksdesigns.artfire .com
You can enlarge or reduce 
the image to the size you require.
Trace the design onto the fabric using a pencil or any other transfer method.
Pin the stabilizer of your choice to the back of the
fabric. I used medium weight tear away stabilizer.
Attach the free motion foot to your sewing machine and make sure you lower the feed dog according to your sewing machine manual.
Place the embroidery hoop into position. I like to use this type of hoop because it is easy to adjust while sewing.
You can use a wooden hoop to hold the whole design, make sure you have enough fabric to stretch over the edge of the hoop.
Stitch the outline first.
Then fill in the design with more straight stitches.
Continue in the same way to complete 
the design.
Tear or cut away the stabilizer.
Press the completed embroidery with a steam iron.