I love free motion sewing! If my sewing machine did too I would do it a lot more, but most of the time it ends with us really disliking each other (and the machine needle tip breaking off!).
You use a special sewing machine foot, that comes with the machine most of the time, and instead of letting the machine feed the fabric through you hold onto it firmly and move it where you want to sew. I like making circular motions, that’s easiest.
Have you tried it yet?