How can I make a cloth simulation to achieve something like the attached image?
My cloth sim is looking more like a handkerchief, than a towel.
Thanks in advance 
What exactly should your cloth sim do differently? Can you post a screenshot of the current one?
Is it really a problem of the sim, or of the steps to do afterwards? I mean, typically the mesh for sim is not the same as for render (the latter is made to follow the former with a surface deform modifier).
As the final mesh will have thickness, you might need to increase collision distances to prevent intersections.
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You’d probably find this video appealing and relevant, goodluck 
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