My process involves lining a nice piece of fabric with interfacing, to make it more stable, and then sewing appliqué pieces from another piece of fabric, usually flowers on to the fabric for added colour and interest. Once that was done I used a pencil sketch, either of my own drawing or of a photo onto thin tracing paper and then with a freehand machine foot and the right stitch setting would 'draw' around the outline of the sketch. I'd then take the paper off, ripping it carefully to remove it from the stitches, and would carry on filling in the details and the rest of the drawing so that most of it really is freehand.
Here are some photos of the results, I think they turned out well, better than expected. I've started setting some of them on embroidery hoops for frames and selling them on Etsy. I intend to do a lot more and experiment with all kinds of designs. I'm genuinely feeling excited about this whole new way of working. It allows me to work with beautfil textiles, patterns and colour AND drawing, it really couldn't get much better in my world! I would highly recommend people give it a go.