Like little big planets sackboy?
Just grab a fabric texture that you like off of a site like CGTextures. That’s pretty much the only way to do that. Well you could just model it but using textures is a lot easier. Both on you and your computer.
Standard procedural Fabric Texture used in Blender is Magic. Just add it in Texture channel and use it as Normal. Adjust the Mapping Parameter as needed to size the fabric pattern: