There are two main options: Macro, or biiig pictures.
If your pictures are blurry, it's because you aren't using the Macro mode, are jiggling the camera when you take the shot, or are taking the picture too close.
Most cameras have a minimum focus range of around 2-3 feet. Any closer than that, and your pics will be blurry. But if your camera takes large enough photos, or has a decent optical zoom (never use a digitial zoom... they're rubbish) taking them from that far away can still give you decent pics... you just need to crop them down to remove all the excess nothing around the edges.
Macro mode (usually shown on the menu or setting dial by a little flower) allows you to take close up shots. Exactly how close varies for different cameras, so you need to check your manual, assuming your camera has a Macro in the first place. Most digitals do, but the minimum range can vary from an inch or so to around a foot, depending on the camera.
And lastly, use a tripod and the self-timer, particularly if you are using a zoom or Macro, as the slightest movement blurs the shot in those two modes.
You also need to look at lighting. There are reems of tutorials online for how to put together a good lighting rig for miniature photos... just do a search and you should turn up something.
Otherwise, taking the photos outside, in a spot that's well-lit but not in direct sunlight generally works pretty well.
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