https://www.flickr.com/photos/39615881@N06/5615881060/in/photostream/

I'm not very good at piping and I'm wondering if there is a way to do this with maybe a mold or a stencil.... Any tips are helpful. Thanks!

You don't. :( You'll have to resort to the molds and stencils, I'm afraid. Or if you're really into punishing yourself, you could use a fondant extruder with the smallest round die, and piece together little strings of fondant to give a piped look, but that sounds like painfully tedious work. 

I have taped off parts of my stencils before so that I'm only using parts of it. You can do the same with molds, just make certain pieces of the mold, cutting off what you don't want, and piecing it together with areas that you stenciled. Make sense? Combine different techniques for certain looks. But, for that exact look above, piping it is.

AZCouture, yes I   agree, piping it is.  But is it possible to do the little icing leaves as transfers???  I have never work with royal icing. I have only use it as glue.

Good luck, on your project hmkatie!

I'm not familiar with transfers, can you explain what hat would be in this context?

Now that I'm on a bigger screen, I can see the detail easier. That is sooooooo easy! Time consuming, but easy. I say that fully acknowledging that I too, am less than stellar at piping. :D

But really, super duper easy. It's just lines, you can master that quickly. Then little loops and leaves, and flat fondant cutout flowers (some of them). Piece it all together, and you have a flowery dainty design.

You could use these and add little stitch lines and teardrops shapes.

Well. I hope this helps!

Would it be possible to draw out a template and pipe onto wax paper over that and simply transfer onto the cake? Or would it be too delicate?

How does that work pressing it up over the top edges of the cake if it's already hard?

Don't make a rod for your own back and try to transfer the shapes to the cake - I learned to make royal icing in the 80s and even though I have used it for all these years it can be so temperamental.  Weather also impacts on royal - too hot and humid, it will break; too cold, it will break.  If you get your consistency right to begin with then you have halved your problems.  I would pipe directly on to the cake.  I actually think the design is very forgiving - seems like you could go "off plan"  (make a little mistake here or there) and nobody would notice.  You could try making the flowers from a mould and piping between them - that would allow them to stand out a little.  I think the suggestion re extruding might be worth considering since you say you don't pipe that well.  It might be easier than fretting over something which you are not that familiar with - but I don't think you'll get the same finish....it'll be "chunkier".