Are you looking for an applique type design? If so, many machines have those built in - both of my Brothers do...?

It's easy enough to make a filled or solid design like this. But it would not be wise to embroider a design on top of it without removing the underlying stitches - it would make a bulletproof embroidery. You would really be better of to make an applique on which you can embroider anything you like.

see if these posts help you