There are some neat online videos of people doing it with vintage machines. I have several vintage instruction books for doing it, and hope some day to have time (like when I'm retired) to work through them. It's not going to be a fast process, that is for sure! It's a lot like FMQ if you've done that, just way closer together.
The one I have is Singer Instructions for Art Embroidery and Lace Work. First copywrite date is 1922, and on mine the last date is 1941. I know earlier versions of this are quite collectable. I watched for some time on eBay and got mine and a reasonable cost.