I’ve experimented a little with my free-motion foot for machine sewing. Using this foot whilst you have dropped the machine’s feed dogs allows you to move the fabric freely in any direction. In this way, you are essentially “drawing” with your stitches. It’s not super easy to control even if you try to go fairly slow, but it’s really fun (although I feel it makes a lot of noise). I made a few sew-on patches and intend to make a lot more:
For sale: https://www.ebay.co.uk/itm/196929077226
For sale: https://www.ebay.co.uk/itm/196929526137
For sale: https://www.ebay.co.uk/itm/196929532130