I trace the design onto tissue paper and then pin to the quilt to stitch through. This has worked very well for me. If the fabric I'm quilting on is light colored I use darker colored tissue paper and a white pencil to trace the design as I've found that graphite colored lead will transfer through into the fabric.
Having a pair of sharp 90 degree tweezers helps when picking out the little pieces of tissue paper that remain after tearing off after quilting.
Also, if you have powerpoint or some such drawing program available on your computer, you can import various stencils/designs and size to whatever you need and then print for tracing.