I've seen a type of paper that you use for freehand embroidery but I can't think of the name of it.
It's like tracing paper which you draw on, place it on top of the fabric and then you can freehand machine embroider over the top.
The paper can then be torn away. From memory it is more fabric like and doesn't blunt the needle or create as much debris as paper.
If anyone can let me know the name or suggest an alternative I'd really appreciate it.