Don't be afraid of Free Motion Quilting. Once you get started, it's like doodling on paper - only on fabric.
Make yourself some 12" squares of two layers of fabric with some sort of batting inbetween - even an old towel or flannel sheet will do.
Lower your feed dogs, put on your darning foot, pressure foot DOWN, and put the pedal to the metal and go!
You'll be shakey at first, but put your palms down on either side of the needle and slide it around. In no time, you can write your name even!
The key for me, is to have the speed fast enough. You don't want the fabric to pull on the needle as you slide it around.
Just go for it. Save your fancy fabric for after you've done some practicing on scraps.
You may have to adjust your tension if the top thread gets pulled to the back.