I hand quilt without a hoop -- I have a nice wooden one that I've tried to use and maybe with practice I can....
I read somewhere that the needle you use for hand quilting should be the length of your left forefinger from the knuckle out to the end of your finger. I tried it and it works for me -- anything smaller and I keep losing that little sucker....
And like everyone else -- practice, practice, practice and then practice some more!!
Good Luck -- I know you'll love doing it! :D