You could also embroidery on one. Doesn't have to be really fancy. Dolls can be wearing a swim suit. For clothes, use fabric you have cut to fit and sewn a slight hem on. You might opt to sewn small patches of Velcro to attach the clothes.
Tiny snaps work well too.
Or you can simply leave them as a floor toy with nothing attaching them. Stitch in or sew on button eyes, nose and mouth in place. Sew on arms and legs using stuffed socks. Use socks that will accommodate baby size shoes, mittens, etc. You can either sew in snaps and zippers and ties, or you can use items that already have them in place, Such as tennis shoes for the pillow pal, and your child can learn to tie.