The other fabulous thing about this method is that it doesn't require any fancy equipment. All you need is a piece of baking paper (it works better than tracing paper and is much cheaper), a very sharp pencil (I use a mechanical pencil) and a ball point pen (preferable an empty one). What can be simpler?
1. Trace your design (and outline if you need it) onto the baking paper with the pencil.
2. Turn the paper over and re-trace all the lines on the other side, creating a mirror image. (You are kind of creating your own 'carbon' paper.)
Do this step away from anything that needs to remain clean, as the pencil lines will rub off on the other side.
3. Make sure your design is correctly orientated and position the tracing over the fabric. Hold it firmly in place with pins or a bit of magic tape (the slightly opaque tape that doesn't stick really hard).
4. Use the (empty) ball point pen to retrace the lines. Use a firm even pressure when you do this, but avoid rubbing the pen back and forth.
5. To make sure that all the lines are transferred, carefully lift just a corner to check before you remove the tracing. You should have fine, beautiful lines to stitch to.