I've just added a few new ones to my army, after doing a simple one a couple of years ago.
You can indeed print/copy designs in codices. My first one was photocopied from a codex. I then put a lamp under a glass table, and traced the design in pencil onto the piece of paper I was using for the banner, then painted over that. I prefer a mechanical pencil to a sharpie because i can make corrections and the lines are easily painted-over.
My current/newer ones I drew freehand first. I drew them/experimented with the size and proportion on a full-size piece of paper to start. Once I had a good size & rendering, I cut it out into a banner, with flaps extending from the top to go over the horizontal pole on said banner. I then painted the actual design over the lines. You can also add highlights and shading onto a banner like this, getting more depth. I mostly just paint the back one solid color, although edging it with a border or something can be a nice touch.
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