Just MNSHO, I have found that making the labels on my inkjet printer, using muslin ironed onto freezer paper, works nicely. Almost any art program can give you both text and graphics. I tend toward a Disney program that lets me use Pooh and friends, but it does have limitations. I do watch the paper/muslin combination as it feeds through, as on occasion I have not fixed them together properly and have caused a paper jam.
After printing, I wait 10 minutes or so, then lay the label on the ironing board with a piece of paper over it and press firmly with a hot iron. If little or no ink transfers to the paper, I then fold over the edges and iron them down. Pin to the back of the quilt and whip-stitch it into place. When I send a quilt, I suggest that since the label may still be fresh, the recipient may want to wait a month before washing. So far all labels are still colorful and legible, even the ones that are almost 10 years old and have seen lots of use and laundering.
I launder all quilts well before labelling and sending them off. The laundering reveals any weaknesses in my sewing and/or quilting (or in the fabric, my Confetti quilt still makes me a bit sad), and makes the little bits of thread and cat hair more visible. Then I lay the quilt on my big craft table and use some sticky thing, a lint roller or packing tape, to remove the odd thread bits and cat hair.
HTH. But if you have an embroidery machine and know how to use it, I am sure your labels will beat mine all hollow!