Lay your headboard fabric out flat on a work surface and place the headboard frame on top, roughly centered. Chalk around the frame onto the fabric, so you have the outline of the headboard frame.
Cut out the fabric around 10 inches out from the outline of the headboard frame.
Chalk your embroidery design onto the fabric, or place on your embroidery pattern if using one.
Stretch a portion of your fabric over an embroidery hoop, and embroider the fabric as desired using embroidery thread and needle. Work in sections at a time until the whole headboard is embroidered per your design.
Press the fabric flat from the wrong-side to iron out any kinks the embroidery hoop may have made.
Roll out foam batting onto the work surface and place the headboard frame on top, right-side down.
Pull the foam batting over the edges of the headboard frame and staple it to the back of the headboard frame, so that the whole front of the headboard frame has some cushioning. Trim off the excess batting with scissors.
Lay your embroidered fabric wrong-side up on the work surface and place the headboard frame batting-side down on top, within the chalk outline originally made on the fabric.
Pull the edges of the fabric up over the back of the headboard like you did for the batting and pin in place at the back.
Turn the headboard over and check that the fabric is positioned correctly on the headboard frame. Adjust as necessary, then when you are happy with the position, staple the fabric at the back of the headboard and remove the pins before trimming off the excess fabric.