I found a wonderful new (at least new to me) machine embroidery technique here.
Of course I had to try it out on burp rags! I have several more of those I can decorate yet!
And here is a close up of one of the flowers. You need to be careful when clipping the bobbin thread: if you accidentally clip the top thread, it will pull out and leave a bare spot (you can tell at the top where some of the petals are missing). I thought this was a fun and pretty flower to make.