They make a paper product you put on your fabric with the stipple design on it, you just sew over the lines.
I tried it once, but too much of a hassle, but may work for others. I don't even try to stipple. Just stitch in the ditch, or diagonally using masking tape. For my gift quilts for family I save, and send them out to a LAQ.
By the time you rip out, resew, rip out, ruin fabric, waste thread and time involved you can pay someone to do the stipple stich and have a professionally looking quilt.