Do you mean a machine that will do decorative stitches, but you are guiding the fabric? Many regular sewing machines come with the capability now. Most quilters quilt on regular sewing machines but can select a decorative stitch, such as a stem stitch, for embroidery or quilting.
Or do you mean a machine that will stitch out an entire shape for you -- like a four-leaf clover to fill in a 9-inch block? I think that type of stitching requires an embroidery machine. Basically you select the pattern you want, and then sit back while the machine automatically stitches it out for you.