For my daughter, I made a couple of simple, Waldorf-inspired dolls.
This one is a baby doll and it has poseable arms and legs. There is a free pattern I made that can be found on my blog and printed out here: http://doingwithout.livejournal.com/41229.html
You will not need extravagant sewing skills to make this doll and there are complete and detailed instructions on the blog.
I also made DD a regular Waldorf-style doll using a simpler pattern for anyone that would like to try a doll with non-posable limbs first. I love their toes! This doll was made from 100% upcycled materials. You can find instructions for this doll on the same blog here: http://doingwithout.livejournal.com/30295.html