I've decided to use a template, because my printer ran out of ink, I drew the characters by hand, then cut them out on cardboard paper.
Then after piping I airbrushed the cookie with Pearl shine to give it a more Frozen look. Using Icing is harder than it looks so the characters didn't turn out to be very accurate, but given this is my first try, I am pretty confident that by next time they will turn out to be better :-)