cookiemookie is the cookie stenciling guru.You could pm her.
You can use the Typical Regular RI. Is not poured . You place the stencil and then
put some royal icing and scrape the excess with a spatula.
I have recipes for regular RI in my website.
Here is a few videos on how to apply them
http://www.designerstencils.com/videos.shtml
Edna 
make sure the RI you use for the stencils is thick - sort of the consistency of peanut butter. Otherwise it will just ooooooze.
I put the stencil down in place and use a small palette knife to spread it over the entire cut-out area. I wipe off the excess from the palette knife and smooth the area evenly as much as I can with one clean stroke.
Thank you so much for the tips and the website! I'm just having trouble downloading the video portions...but I'll figure it out!
My other question - my cookies will already have poured RI on them....I know to let it dry for at least 8 hours or more, do I just use the same procedure but more carefully????
Lisa
First I flood my cookie with royal icing and let it dry completely.
I like to use royal icing that is the consistency of natural peanut butter.
I position my stencil where I want it on my cookie and then use nice long even strokes(with a palette knife) hopefully most going in the same direction and over the openings in the stencil. The only exception to this is with lettering, I usually have to go over it again in the opposite direction for complete coverage. Because this is rather thick icing, it also dries very fast so you have to be kind of quick. When you have covered every opening carefully lift your stencil straight up trying not to pull.
Once done they will dry very quick because you have used a thick icing.
Practice on parchment or waxed paper first to get the hang of it.
Good luck.
Rose(cookiemookie)
like Rose said - I let the base coat of icing dry completely first... I like to allow 18-20 hours for that. Because when you stencil you are pressing a little on the top of the cookie, you want to be sure it is totally solid.
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