I have used enmbroidery on Quilt blocks and labels before with no problems, but I have an embroidery machine. I do it before batting up the quilt, using my usual stabilizer. You haven't been too clear what machine type you have. All I would suggest is give it try on a test piece that would work anyway if successful, then theres no waste, if not good then hand do it. There is dress makers transfer paper available which is good for transeferring designs/fonts. I would hoop the area with stabilizer behind for sure. Use an embroidery ring, lower your feed dogs, use your darning foot and move the ring manually,following the design on the fabric and do "writng" with your needle. hope this makes sense and helps a bit. It's what I would do, but I'm sure there are more experienced people than me to help.