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Also, mixing by hand was the only way once upon a time, so it does work, though it requires a lot of elbow grease! I used to do everything by hand before i got my mixer.
Ditto siduri. If you don't want to invest in a lot of decorating equipment (which can be quite pricey and totally addictive to own!), Wilton has put out a "cupcake decorating kit" which includes a piping bag and a few of the more popular tips (including a filling tip). Both Hobby Lobby and Micheal's stock the Wilton line and you can print out a 40% off coupon from the 'net. If you are not so blessed...try WalMart in the craft section.