I read your question very carefully. From what you described, you do not have the equipment (embroidery machine), and knowledge/experience to do what you think you want. You should try to find an experienced machine embroidery person to do it for you.
to do that process "free motion" you need a hoop, sturdy stabilizer, heavy duty machine and needles, a steady hand for free motion, plenty of time, and a double dose of patience. Think seriously about applique.