If you look in my photos you'll see the two 50th birthday cakes with standing numbers. I made the numbers out of fondant and then put long wooden skewers in them. When I stuck them into the cake I placed small balls of fondant to hide the bit of skewer that was showing.
I also use wooden skewers...I attach mine by using the wilton cookie icing..I glue it on to the back and let it dry overnight.It dries like royal icing.
I just recently purchase a chocolate mold that does numbers and it was so much easier than fondant. http://www.flavortools.com/l037.html
Ive done fondant a couple of times but they're so fragile etc I think I'll be switching to chocolate from now on. I also love all the color combos and mixing I can do with chocolate.
I use toothpicks. While the fondant is soft push them in and let them dry for a few days.
I do it the same way, with toothpicks, but here is an alternative:
http://tortentante.blogspot.com/2010/09/buchstaben-und-zahlen-beine-machen.html
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