Most digitally controlled sewing/embroidery machines have some form of embroidery CNC-like file that they can accept, and as far as I am aware it’s easy to convert to other formats for different machines. I picked up an entry-level Brother (same as the printer company!) machine for a friend recently who wanted to start trying some digital design stuff with it. Was my first exposure to that world!
See eg for a list of the common file formats, mostly associated with specific hardware manufacturers I believe.
