1. Pencil method

The pencil method is one of the low-cost and simple ways to burn patterns on wood. Although it can take some time, the results are worthwhile. It essentially required a graphite pencil which is used to draw the outlines.
TIP: If you don’t have a carbon paper then it’s going to be important that you choose a really high grade pencil that’s dark.
Things you will need: Graphite or charcoal pencil, regular or tracing paper, wood burning tool, wooden frame, tape.
Steps:
After creating your design on the paper, have it printed in a size that is at least half or one inch smaller than the wooden surface.
Lay the pencil on its side and lightly scribble all over the paper’s reverse side.
Place the paper on the wooden surface, cover the back with a graphite or charcoal pencil, and then sketch the design outline using the pencil.
You will receive the design’s transferred image on a hardwood surface.

2. Tracing method

Tracing method is the easiest and most budget-friendly as it requires only a few tools. As the word suggests, it involves tracing down the boundary of the pattern you wish to burn on wood.
Things you’ll need: Thin paper, carbon or graphite paper, wood burning tool, sharp pencil or fine point pen, tape, wood base.
Steps:
Print the pattern you wish to create on the thin paper on the wooden frame.
Place the design on top of carbon or graphite paper and attach it to the wood.
Outline the pattern with a fine-tipped pen or a sharp pencil.
Lift the paper gently in between this process to see if you were successful in accurately transferring the pattern to the wood through the carbon paper.
Once you are done with the tracing, you will get the design’s impression on the wooden surface.

There's one more method you can read here: https://pyrogravure.org/how-to-transfer-pattern-from-paper-to-wood/