You don't have to use a hoop for hand quilting, there are many quilters who work without and get wonderful results. For me it works better when I use a hoop, but at the beginning of my quilting career I needed some time to get familiar with it. Today I can't work without my hoop on a stand.
The length of stitches is discussed very often. But more important than stitch length is eveness. You can do longer stitches and when they are even it looks beautiful.
And one more thing: you need practice, practice, practice to find your own way of quilting.