There's no reason for us to recreate instructions when there are so many good ones out there! Click on the links, read, watch, learn, and let us know which is your favorite.
Braided
http://www.foxvalleypets.org/wp-content/uploads/2015/06/Fleece_Tug_toys_for_dogs.pdf
Square knot tug toy
https://createlaughgrow.com/home/2017/6/26/how-to-make-a-square-knot-dog-toy-thats-really-square
Tug toy with a loop or handle
https://www.thehonestkitchen.com/blog/diy-making-a-fleece-tug-toy/
If you prefer video tutorials, just head to Youtube and search for DIY fleece tug toys and you will find tons of videos.