Some of the previous blog posts containing applicable samples:
Ribber fabrics with stitch transfers between beds 1
Slip stitch patterns with hand transferred stitches, double bed
Brother shadow lace, rib transfer carriage 
Combining knit carriage needle selection with racking 
Racked patterns 5: Passap/Brother 2
directions and samples from manuals including racking on tuck stitch and other ground variations, this on a tucked ground, in a thin yarn 
Embossed, raised textures are familiar in single bed work using stitch structures such as tuck, slip, weaving, gathered and ruched hand techniques, and in double bed as pile, blister, lace, and ripple patterns.
When embossing is done double bed, the background fabric is knitted in purl stitches on one bed, and the raised design or panel in knit stitches on the other. The first method produces double knit patterns where all needles are working on the back bed, coupled with selected needles for the pattern on the opposite be. The raised, embossed portion is a double knit, showing relief on a purl ground. The second method is to use knit/ purl combinations, easiest to execute with a G carriage.
The striped ground occurs in areas where there are no needles in work and selected for patterning on the main bed. A cabled pattern to try: color changes in these instances are every 2 rows.
Because there are needles completely out of work on the main bed along with pattern selection, this is an instance where end needle selection must be canceled.
The first preselection row is from right to left toward the color changer.
Any transfers or stitch manipulations between or on either bed are made before the first pass to the right with the next color.
The knit carriage is set to slip both ways on the first pass in pattern from the left and stays there, the ribber is set to knit in both directions throughout. Depending on the yarn and the pattern distribution the all striped areas will be longer than those gathered by slipped rows. As usual, begin with a plan. After the first preselection row, transfers are made down to the ribber as indicated at the top of the chart. Cable transfers are made after every 14 knit rows, with stitches crossed on rows 15 and 31. After the cable cables are twisted, the stitches in the color that is going to knit in the next pass are brought out to E so they will knit in that color before the pass to the right, and again before the pass to the left, rows 16 and 32, Y.
If the intent is to have solid vertical columns of color, those areas as in column marked A, need to be adjusted for using alternating colors as well. Using the repeat on the left of the chart 
After the first preselection row to left, transfers are made down to the ribber, stitches that will compose cables are selected in the pattern,
colors are changed after return to the left, and every 2 rows, stitches in the color that does not knit become elongated. 
Because column A was not color separated for alternating colors, each color in the corresponding needles will knit with every two carriage passes, and the result will be a striped vertical column 
Cable twists should be planned to retain the correct movent, can alternate each time or repeat in series, charts for location and direction of twists are helpful to avoid errors. The solid vertical columns here are planned in only one color, could be programmed to alternate as well. The repeat used in my swatch includes a solid column on each side of the finished piece, the color swap in the twist at the top can be an unplanned error or serve as a deliberate design change
Analyzing the stitch structures involved for planning 2 color DIY:
two-color ribs on a striped ground require cards or electronic repeats that select each color alternately. Fabric where the backing on the ribber or back bed in machines such as Passap knits all stitches every row is often referred to as half or full Milano. The backing may be also be knit using slip/ tuck settings.
Working in a single color, in half Milano and every needle rib course is followed by a plain knit row on the opposite bed, it is a 2-row repeat. In full Milano fabric, a row of every needle rib is followed by a plain knit row on one side of the fabric, and then by a plain knit course on the other. The repeat is three rows high. On every third row, the ribber carriage must be set to slip for one row, in the direction in which the carriage will be moving, prior to knitting a row with every needle preselection on the top bed. The setting is changed back to knit for 2 rows when the carriages reach the opposite side. The required cam change will happen on alternate sides. 
Both sides of the fabric have small stitches alternating with longer ones formed by slipped rows. half Milano 
full Milano
Often an all slip setting is used on the top or front bed, the result has less elasticity than a full needle rib, and the knit will have a tendency to curl toward the side which shows fewer knit rows, so in a finished piece side borders in the same stitch type should be considered.
Adding color changes in the ground requires altering the repeats.
Hand techniques may be used to modify ribs by cabling, racking, transferring stitches to the backing. When knitting again on empty needles, if you want eyelets, simply keep knitting. If not, hang the pull loop from the adjacent stitches on the opposite bed before resuming knitting.
Cable color placement must be reversed at the cable crossing.
Racked sequences are made along with stitch transfers.
To emboss other than vertical ribs the needle selection needs to be changed every 2 rows. This can be done manually, following a chart, or with programmed patterning whether with punchcard or electronic options.
Plaiting can produce 2 color variations without color separations.
When increasing stitches, moving the adjacent stitch onto the new needle, leaving it empty, will change the eyelet location a stitch away from the edge.
When moving stitches for decreases, lateral transfers may be made with multiple stitch transfer tools for different effects.
Transfer carriages can speed up the process.
To start the pattern one can begin with a cast on only on the ribber or back bed, or transfer non-selected stitches after the first preselection row on Brother as seen in most of my previous swatches, with 2 rows knitting on the backing alone, and 2 rows of the main color knitting on both beds. With either cast on, the preselection row is made toward the color changer with needles in work position on the main bed, so the knit carriage needs to be set to slip so as not to pick up unwanted loops on the top bed as it moves toward the color changer, and will remain set to slip both ways throughout the pieces.
As mentioned, the term Milano refers to ribs composing weft knit structures where one side of the fabric knits more rows than the other.
In half Milano, a single long stitch is created in the pattern color, in full Milano small stitches alternate with a row of longer stitches created when traveling back to the color changer.
The preselection start is determined by the type of long stitch, and how the repeat is programmed. I prefer to start my repeats with knit rows.
A half Milano swatch is begun with all stitches on the ribber bed, COR: the needle actions for each design row if patterning were on every needle are shown below. Designing may be easier to plan or chart on a template, followed by actions for each pattern design row with the second color. Half Milano on left, full Milano on right for use in 2- color-work. 
Half Milano stitch formation on the left, full on the right 
Planning for a half Milano shape design outlined with added borders and with vertical columns at intervals in the alternate color: every 4th row is marked in yellow as the underlying template. A simple shape is charted out, marked with black cells, the pattern starts with a knit row. Preselection in slip stitch is made toward color changer, black pixels will pick up stitches moving to the right, slip top row moving to the left. Decreasing to maintain the dominant color shape is not necessary, while the border, in this case, is shaped by decreases made by transferring non-selected needles to the ribber before knitting with that color from left to right. Border cells are added immediately up and to the side of those planned for knitting on the previous row, their respective cells are outlined in green. Software programs make it easy to alter the repeats and add borders if wanted
Actual knitting will indicate whether adjustments are needed in making the repeat continuous vertically or with some added striped ground only rows in between. I had not noticed a stitch hung up on a gatepeg, explaining the distortion in the row marked by yellow arrows, where the yarn was caught and pulled up. 
These techniques share some features with the category of double bed appliqué, where one bed knits the main fabric while the other creates the shapes, which are attached to the fabric as you knit. In the finished fabric the purl side is the right side, the ground may be created in a solid color or striped. Both shapes are knit at the same time, as opposed to performing the technique on a single bed. As usual, the color changers should be threaded so that yarns feed smoothly and do not cross. With simple shapes as in shadow lace, no punchcard may be necessary, while cards or electronic repeats simplify the steps and help prevent mistakes.
In Japanese machines, for each row in the charts 2 rows are knit in the background first on the ribber, followed by 2 rows in the shape color on the alternate bed.
Smooth yarns and contrasting colors that still allow identifying knit structures easily are best. There is a limit to the number of colors that may be knit at once. Beginning with hand techniques: it is good to chart out the design before tackling it, and with color changers limited to holding 4 colors, if planning several shapes, the sequences in the color changes may need to be plotted out ahead of knitting as well.
Purl loops are the tops of the stitches in the row immediately below the stitches on the needle on the opposite bed, marked in green, while sinker loops consist of the yarn that is between the stitches on the needles, marked in red. Hanging the purl loops will help to eliminate or reduce the size of the eyelets. Take care not to use the sinker loops between the stitches, marked in red. 
In executing the fabric as a hand technique, the main bed is still set to slip in both directions, the ribber to knit every row
1. Knit 2 rows on the ribber alone
2. Bring needles to be worked in the pattern at the upper working position D or E, hang loops from ribber if there are increases if preferred, knit a row
3. Bring needles in pattern manually to D or E again, knit the second row of the appliqué
Repeat steps one and 2
In published directions color 1 usually refers to the ground color, which knits on the ribber only. Color 2 generally knits on the patterning bed as well. When most needles are in work on either bed, the tension for the yarn on that bed approaches the one used for that same yarn if it were being used single bed.
Punching all squares in 2 consecutive rows, or programming 2 all-pixel rows filled in completely across followed by two unpunched blank or all white pixel rows makes the process quicker. Punching or filling in single rows may be done as well, but requires elongation X2. 
Increases or decreases may be done on more than single stitches, and less frequently than with every pattern pass.
Fully fashioned shaping alters the edge of the appliques and places the eyelets in pattern, at or away from the edges. In Brother machines preselection of needles needs to be retained after any stitch manipulations.
Adding shapes with additional eyelets: practice shaping, keep notes, fully fashioned=FF 
Begin with simple shapes, examining the quality of increases and decreases, whether single or multiple, eyelet formation. Picking up from the row below before the next pass with the contrast color eliminates eyelets
picking up from row below at any point during knitting 
decreases in the number of stitches, in contrast, may be made by transferring down to the ribber prior to changing back to the ground color 
Simple increases or decreases are made by moving stitches laterally in either or both directions. Increases may be made by moving contrast color stitches laterally, followed by the choice as to whether to fill in the empty needle or allow it to create an eyelet. 
Fully fashioned increases or decreases are made by moving a stitch or a group of them to the adjacent needle/s to the left or the right and then taking the double stitches back to the original position, leaving a single empty needle for the planned eyelet formation. There should not be multiple needles with no stitches on them unless the goal is to expose a stripe of ground 
typically, in these exercises, there should be single empty needles after transfers, making certain proper needle selection for the pattern group is maintained 
Combining eyelets with lateral increases
When transferring stitches, watch for any loops getting caught on gate pegs, as seen on the left below, increases and decreases may be pre-formed on more than single stitches
Planning a medallion: cyan cells represent transfers to the left, the magenta to the right. 
At the top of the single medallion, the stitches were transferred to the ribber prior to knitting with the same color once there was no needle preselection for it on the top bed.
Programming repeats to help track needle transfers as well: it is possible to start with a published repeat, though once the principle is understood, required markings for DIY become easier. Electronic machines leave one free in planning repeat width. In this test, a repeat from the Stitchworld pattern was used. In its built-in memory format, it will not work, the repeat needs to be altered. Each sequence of passes with the LC consists of 4 passes, followed by two rows knit with the KC. Two rows are added to each lace passes sequence, which will knit on the ribber only, in the contrasting color. Transfers to left and right are marked in cyan and magenta. The specific software used or machine model may require that the repeat be flipped horizontally prior to being knit, true on my 930. Markings on the left are for ribber actions and settings, those on the right for the main bed. K indicates that that bed will be slipping, K that it will knit. 
The first preselection row after the chosen cast on is from right to left with end needle selection canceled and the knit carriage already set to slip in both directions, with all required needles on the top bed in the B position.
Transfers are made prior to carriage passes made with the pattern color, in this case, white. If a transfer patterning row follows a white row on the ribber, extra white rows will appear on the striped ground seen in this test, where the ribber remained set to knit every row in both colors 
To eliminate the extra white rows, the main bed stays set to slip every row, the ribber settings alternate. It is set to slip for two rows immediately after knitting with the red yarn, then will be reset and knits for 4 consecutive rows. Transfers to create eyelets are made on selected needles on each of those two rows, always toward the carriage, even as the transfers themselves change directions as the angles of the shape decrease toward its center on the top half of the design. After the first transfer and the carriages travel to the right, a long float will be evident, will “disappear” on the return to the left. 
Patterning selection will reappear as the carriages return to the left. 
The color is not changed. The ribber is set to knit in both directions again, forming stitches on both beds for the first two rows, followed by a color change and knitting in the red, on the ribber only for 2 rows, completing a sequence of 4 knit rows before the ribber being set once more to slip. For consistency, I changed the settings on it to slip before picking up the white, changed it again after preselection of lots of needles meant the top bed stitches needed to be knit on both beds again. The first proof of concept, observing choices: as with other samples, the first patterning row after all stitches are transferred to the ribber 
requires a choice as to whether to pick up from the row below or simply allow empty needles to pick up loops on the next pass, the choice throughout here, marked A. Reducing stitches may be done by transferring down to ribber, B, or lateral transfers, C. D marks the spot for a possible shape design shape. Arrows on the purl side point to the direction of transfers, cyan to left, magenta to the right 
As with single bed lace, the first pass after transfers creates loops on empty needles, which here need to be kept in upper work, D position after transfers. For non Brother knitters, Brother positions are A, B, D, E, skipping C. 
Knitting over the loops on the next pass on that bed completes the stitch. This design is knit as continuous, the striping at the bottom is wrong because the red was not picked up after the first 2 rows knit in pattern with white, most sequences for the remaining fabric are 4 passes with white in the feeder, followed by 2 in the red. All eyelets here are reduced in size by picking up from the row below, all transfers for decreases are made laterally, the border is set to a width of 4 stitches, the pivot point for the repeat has been narrowed 
the differences at the edges of the shapes. 
Many of the same principles may be applied to designs using tuck stitch settings, where the striping will appear vertically rather than horizontally
2 color ribbed brioche stitch on Brother knitting machine 1
Lace transfers meet fisherman rib, 2 color ribbed brioche on Brother machines 2
Geometric shapes on ribber fabrics with tuck stitches 1
More on Lace transfers in single color rib