If you are even the least bit creative, you can draw your own design, transfer it to fabric and embroider it. Okay, well, I do know not everyone has drawing skills. Here’s another way:
Step 1: Put some cloth into a hoop, any size will do. However, smaller might be good for your first attempt.
Step 2: Your hoop makes a nice circle. Take a pencil or transfer pen, mark around the circle. Now, draw an irregular mark across the circle (up and down), then across it again (side to side).
Step 3: Now, you have four sections. Depending on how large they are, you can divide again. Or, you can doodle in the section. See example, below.