In this letter, we propose to turn various existing cloths, especially functional cloths, into actuators by combined embroidery technology and thin McKibben artificial muscles. Most of the textile sensors so far are made by weaving active yarns into each other or into other base cloths. These devices have a limited choice of cloths that can be actuated. We create a prototypical actuator that can be deformed in three dimensions using thin artificial muscles and embroidery techniques on a functional cloth used for hook-and-loop fasteners and textiles that can observe pressure. Our experimental results indicate that the force of the artificial muscles can be transmitted to the cloth using fixation by embroidery and that the actuator can be variously deformed in three dimensions. We show that functional cloths can be made into actuators while maintaining their own functions using the proposed method.