I’ve made a series of videos with step by step instructions on how to sew plushie minions. You can access them via my Youtube channel below:
In the 4th video of the series, I make use of a pattern for the hands. In the 5th video, I make use of a pattern for the legs and feet.
Here is that pattern:
You should be able to right click on this pattern and save it to your computer and then print it. Depending on the size you chose for your minion, you may have to scale up or down to get the correct hands and feet.