here’s a blog post on my favorite materials for image transferring. 

Darker color fabrics that are a bit thicker might not work with these techniques, and If you want to jump in now without having to buy new supplies, you can also try using a white colored pencil - color over the back of your drawing heavily with white or very light colored pencil, and then place your drawing over the fabric on top of a hard surface. 

With a sharp tool (like a pen that has run out of ink, or a knitting needle) mark down hard on the lines of your drawing.

Test that this works with the specific colored pencil and fabric that you are using before jumping into the whole drawing. You can also do this with chalk instead of colored pencil, but chalk doesn’t last that long when you’re repeatedly touching the fabric like you do when you’re stitching.

https://www.mixedcolor.net/blog/2019/7/30/getting-started-with-embroidery-part-2