Just look at the soft, squishy shield!
I was commissioned to make a pillow version of my Hylian Shield backpack
I used the same patterns as my backpack, here:

Sorry for the bad phone photo, it's all I snapped before sending it off to its new owner.
Materials used:-Anti-pill fleece in red, grey, royal blue and yellow
-Sewing threads in the same colours
-Packed with soft toy stuffing
-Silver buttons for rivet decoration
Progress shot here:

These are available to buy. Please note me for more details.
This is just a zig zag stitch.
I have to physically guide the material and turn it around corners.
You just need to make your your machine has a good quality, heavy duty motor.
Janome machines are great for this, and it's worth paying that extra bit if you're going to sew lots of layers or thick fabric like this.