For my first few figures(Jester and Minstral), I didn't use any tools or outlines.
For the majority of the rest of the figures that I made, I used the actual meeples that came with the game. A smooth and flat surface works best, my table is glass and it worked well. I started by rolling the clay into a ball and then flattening it with the meeple figure I wanted it to resemble. Then I used a wooden knife to cut around the edges. Once it was cut out, I then used the over-sized toothpick tool to smooth out the edges which is the most tedius part.
If you using the same kind of clay that I posted a pic of, then you're probably only going to want to use wood tools. I used the 5th and 8th tools from the left in this pic:
I also used a tower piece from the tower expansion for the traingular gap between the meeple's legs. It does not work to use tower pieces to make more tower pieces because the top and bottom of the towers are different sizes. Does this help at all?