If you are looking more for a hand done look without the work, this may be the technique for you. You can use the blind hem or zig zag stitch on your machine with invisible thread. I have used this technique with success. This site by Soft Expressions gives detailed directions. There are no photos but the instructions are complete.

In my article on hand applique I mentioned the buttonhole or blanket stitch technique that is so popular now especially on fleece garments. This technique too can be done on your machine if your machine does specialty stitches. You may have to experiment with a few different ones because the depiction of the stitch on my machine does not look like the blanket stitch. It takes a little practice to navigate around corners and such, but well done, it looks as nice as the hand done version. Here are some instructions along with a nice visual image. Like the satin stitch method, speed is not of the essence here...if you move slowly and consistently, you will end up with good results. As my mother always used to say (and I find myself saying it now to my son) Patience is a virtue.

Suggested Reading:

Applique 12 Easy Ways!: Charming Quilts, Giftable Projects, and Timeless Techniques

Fancy Applique: 12 Lessons to Enhance Your Skills

Artful Applique: The Easy Way