Hands Modelling - Joe the Echidnafox
Okay, now to begin a long multi-part tutorial on how to make custom Sonic style sprites. These tutorials will focus on modelling only, as we already have tutorials on how to shade.
Next, we'll continue with the hands. The size of the limbs will depend on which style you intend your sprites to be in. The Genesis styles use bigger sprites than the GBA styles, so the Genesis heads will be bigger. This tutorial will use the size of Advance and Battle sprites. We'll be making arms and legs in this tutorial.

Of note is that Sonic characters have somewhat big hands. We'll start by making a 7 pixel tall by 7 pixel wide circle. Also note that Sonic Advance style uses 6X6 hands, as this tutorial is based on battle style. Humans might also have similar sized hands for tall humans, but smaller ones for short humans.

Now, attach them to the limbs. next add a small ovalish bump on either the right or left side depending on which hand you're making, and which direction it is facing. That will be the thumb.

Add similar but longer indents from the bottom, or the middle, or wherever depending on direction, and wether or not he hand is in a fist or other position. There should normally be 4 of these, with the one farthest from the thumb being smaller than the rest, but around the same size as the thumb, and the rest being similar sizes. However, sometimes, smaller sprites make it very hard to make all fingers visible, so people just use less for now. Also note that female character's hands should look a little more relaxed than the males.

Now, at this point, we'll start adding in designs or details. These all depend on the character. Most Sonic characters wear gloves, but you can remove them, or make them different depending on the character. Also, some bare handed characters can have claws added to the fingers.
Finally, clean up any uneeded pixels, fix minor things, and start shading, and you'll have your own hands!