I love Waldorf-style toys. However, they get pretty pricey. So I have decided to try and make them on my own. I mean, that is kind of the whole point of Waldorf toys, that they are handmade and your children can watch if not help, making them more special. A Waldorf doll can run anywhere from $55-$150.
For the jand and feet I just sewed a small "bag" of hosiery, stuffed it with fiber-fil, and then sewed it to the end of the arms or legs with a straight line to create a sort of joint.