When I need lettering, monograms, etc., I go to my trusty word processor and print them out using a font I like -- which one depends on what I'm doing. I pin the printed paper to my fabric and stitch over it with a contrasting thread (usually, but not always). I tear away the paper and sew in the piece of fabric.
I found this technique particularly useful when I was doing several of the "Project of Doom" quilts. That way I could determine the finished size and work with the titles of the books on the shelves much more easily than painting them or hand embroidering them.
My handwriting leaves a lot to be desired, so I got consistent results every time. I found that applying a lightweight woven interfacing gave enough body to the fabric that the wording very rarely puckered or stretched out of shape. The weight of the copy paper I printed on helped, too.