You don't always have to hoop things. You can use spray adhesive on the stablizer and lay the burp cloth on top, use a basting stitch or even tape on the edges to hold it down.

are you sure you're hooping right? Also though Jenni said you don't always have to hoop, you do understand her I hope. You are actually "hooping" the stabilizer, then you spray that and stick the fabric on top of that, then proceed to stitch.