I usually work with Marvelous Designer, making garments, but have been exploring ZBrush for making the decorations for them. I have come up with a number of Inssert Mesh brushes that recreate embroidery stitches. They are probably (quite!) crude and could stand touching up by an expert, but (IMHO) for a beginner, they look just like the real things. Meant for high poly detail work, since I usually do still images and am not concerned about poly count, they could probably be baked down for low-poly work, I suppose.
Basque Stitch
Chain Stitch
Open Chain Stitch
Fly Stitch 1
Fly Stitch 2
Satin Stitch (zero degree angle thread)
Satin Stitch (45 degree angle thread)IMMEmbroidery1.zip (193 KB)