Have you looked at the Felt Wee Folk book? I'd think that you could make something similar with those techniques. Using small wooden dowel caps for the heads and feet/hands. They have chenille stem armatures that are wrapped in embroidery floss.
I think you'd just need some wooden beads and some pipe cleaners; bend the pipe cleaners into a boday shape, ans thread them through the beads, bend them around and twist the pipe cleaners back together, then sew a little felt outfit around it. You can also use some tacky glue inside the bead holes to make sure they are attached well.
I use floral wire for my bendy people. It's a little longer than most pipe cleaners and comes in different gauges. For me it is easier to wrap. I cannot find the tutorial I used to start making them... but pretty much you bend the wire (or pipe cleaner) in half, make a nub for the head to attach to, bend the "arms" out and then in (so the wire is doubled) to the length you want, then do the same for the legs. You end up with sort of a star shape with one small "point" at the top. I hope you can understand that without photos!
It looks like then all they did is sew a felt outfit on and attach beads for the hands and feet. They are very cute!
The Tabbie Family; DH , DS , DD , a few :, a couple : and me.