In all things, the Yellow Pages are your friend.
Look up "embroidery". You'll find at least a few companies that do custom patch work.
Have your design ready to go. Fax it to them or send it via email so they can take a look at what you want as a final design.
There'll probably be a programming or set-up fee to get your design scanned and in a language their stitching machine understands. It'll also cost you for each different color of thread you want to use in the design more than likely. And a lot of places will charge by stitch count.
But talk to the folks near you. I'm sure they'll be willing to help.
Remember: about $.80 of every dollar you spend with local businesses STAYS local. If you spend it over the net, it goes away from your community and is never felt there.
-Gordon