Have you tried using contact paper?
1 You draw the design that you want on the paper side of the contact paper. You can cut it in strips, squares, circles or large pieces.
2. Slowly take off the backing and gradually adhere it to the quilt. Then using the darning foot with the feet down, sew through the written pattern into the quilt.
3. When finished, gently rip away the contact paper that was adhered to the quilt. You will then see the pattern sewn into the quilt. Tweezers are helpful in removing little bits of paper.
You will get used to moving the material and you will soon be able to do it on your own without using the contact paper. Btw, using those rubber-tipped gloves so your fingers don't get sore. They are called "fingerlings" or something like that. It only took me a couple of practices with contact paper and then I found it much easier to do. Humming helps to keep you from grinding your teeth, biting your lips, etc. I used to sing "around and around and around I go."