Freehand copy

This may help: https://www.hometalk.com/639866/woodworker-s-transfer-tool

you can make a stencil for yourself out of thick plastic, or I believe there is a tracing device similar to the old overhead projectors (but on a much smaller scale) that you can purchase

Make a copy of what you want on your computer. It needs to be reversed so when you flip it onto the wood it will read correctly. Decoupage onto the wood. Lay lettering face down, rub it good, wait for it to dry. The slightly dampen paper and rub lightly to remove paper and lettering should stay on wood.

I haven't done this myself yet, but have been wanting to try, and have friends who have done it To make signs. Print your letters on regular printer paper (you need to size your letters to fit what you are printing it on, and choose your font on the computer). Take a pencil and shade one entire side of the paper, and tape that side down. Trace the outside lines of the text with a pencil and this transfers the letters into your board. When you remove the paper, you will see a faint outline of the words. You can now paint in the letters.

I use carbon paper and trace the lettering on then hand color (or paint)