Yes, I did a queen size on my Brother Ultra Embroidery machine. I did it on my dining room table with leaves in it. I rolled the quilt and started in the center and worked out to the side. Just do this on each side and top and bottom.
I is much easier if you have a large table to support your quilt. Re roll each side as you start on that side.
Good luck. It wasn't easy, but it is doable. I didn't know about the vinal or not lowering the feed dog. I'm going to try that on a baby quilt that is ready to quilt today.
Good luck.