I pin an extra piece of fabric -- or a towel, or whatever -- to the edge of the quilt and then put the hoop on. Sometimes I just take a strip of fabric -- pin one end to the quilt, the other end through the hoop and pull it snug (I usually put 3 on). The hoop sleeve would work well, but I can never find those gadgets when I need them.
I don't do much hand quilting any more, I miss it and will have to start handstitching one. It's enjoyable.