If you don't have a sewing machine. The simplest way to hand stitch is to measure the width of the door add 5cm for seams. Then cut fabric that length and about 32 cm wide sew along 1 end and length, turn inside out and stuff, fold last end inwards and sew neatly. add eyes and a ribbon for the tongue.
For a mouth you could push it in and make the stuffing come over the top and bottom..... remember when you used to make sock puppets for your hand ? that sort of idea. A sticth or 2 would hold it in place.
Or for an almost no sew one. Get a pair of thick tights cut the legs off, stuff, sew or knot the end add eyes and tongue.
You could also use very long socks.
Good luck!
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