A free program for Android, by Catrobat.

Embroidery Designer is a powerful app to create and stitch your own custom designs on any kind of fabric or item you can think of. The app allows you to design, create, edit and design any type of design and stitch it on your own clothes, bags, pants, shirts, shoes, and even on your phone case. You can do it in seconds, without any prior experience. The app is extremely easy to use, and is very user-friendly and intuitive to use.

You can download the app from Google Play Store for free. The app is available on all the most popular Android devices,.