Yes, yes yes.
Years ago, I used to embroider using my old Kenmore machine. Here are some things I learned:
1) Use only a hoop you can tighten with a screwdriver - the fabric must be VERY tight in the hoop for crisp lettering or other embroidery. (check thrift stores for hoops) - I'd go with a hoop that is about 6 to 8 inches diameter & move as necessary (hard to keep it tight on a larger hoop)
2) Drop the feed dogs
3) Use good quality thread and a new needle
4) Use tracing paper to transfer your pattern or lettering to the fabric on which you sew
5) Place your hands around the sides of the hoop and guide the fabric around to create the lettering or pattern you have transferred.
6) good idea to sew fabric to a thin layer of muslin for stability prior to doing the embroidery
I made many baby gifts, bibs, portable tie-on quilted high chair supports, quilt squares, pictures and lettering on T-shirts for my kids, and have never had an embroidery machine.
Have fun.