HAND MADE PRODUCTS FOR YOUR HOME
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Stem Stitch Tutorial
The most common stitch I use to create an outline is Stem Stitch. (unlike the name suggests you don't need to save it just for stitching stems!) I find it more forgiving than backstitch as the stitches don't have to be exactly all the same size, and it creates a nice smooth thick line, kind of like a twisted rope. It's really easy once you work out where to keep the thread when sewing!
Here you can see an example of a sweet barn owl design that I outlined using stem stitch.