Others probably have a better method, but I use Glad Press and Seal. I stick it on the pattern, trace it, then pull it off and stick it on top of my quilt. After I've sewn through it, I pull the press and seal off. It doesn't leave any sticky residue. The only problem parts are places where lines have crossed or come really close to each other, then I have to use tweezers to pull out the little bits.
I use a darning foot with feed dogs down, medium speed on my machine and consentrate on moving the quilt smoothly at a constant speed. It takes practice, but you get the hang of it after awhile.