Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Embird - Machine-Independent Embroidery Software
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
Crosti - make your own unique cross stitch design from custom image
Cstitch - free and open source program for creating cross stitch patterns from images
EmbroideryStudio e4 - Fashion Design and Development