I would probably make them out of marzipan...easy to mold like Play-Dough, and technically edible, though I don't care for it much. Marzipan figures are pretty heavy, so make sure it's either a fairly strong dense cake, or put in a couple of dowels and a cardboard round for them to sit on (then you can ice over to hide it, just remember it's there before cutting the cake! Gumpaste would also work, or if you want to be less realistic and more cartoon, then you could just pipe them out of stiff royal. Good luck, post a picture when you're done!
I used the mini ball pan for heads on both my kitty cakes (in my photos). I imagine a cupcake would work just as well. For the ears paws and tails I used stiff BC and piped with a great big tip - 2D I think, and then grass tipped over it.
Hope this helps and good luck 
Quote by @%username% on %date%
%body%