This is for static objects, not armatured ones, as the fabric tends to phase and glitch when its pins move.
To turn a piece of object into a fabric:
Select the faces -> Alt+P -> Selected
Select the fabric
Go to Physics tab -> apply Cloth
Select fabric -> Go into Edit Mode
Using Line selection, select all edges connecting to solid object
Data tab -> Vertex Groups -> check +
Physics tab -> Cloth -> check Pinning
Pinning -> Vertex Group -> Group
Go into Object Mode
Select fabric
Select object -> Ctrl+P -> Object
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