Plasti-Kote makes an interior dye for cloth. Like any other dye jobs being clean is the biggest thing. It's in a spray can so mask off what you don't want colored.
Other than panels doing interiors without a industrial sewing machine is almost impossible.
Doing panels from scratch I would get some Vinyl top padding (foam) to glue down before your material. Use 8090 3M super trim adhesive. If you are going to run 2 colors on a panel get a roll of paper striping to keep your lines straight so they will not look crooked when you staple the material.
Check out this month's issue of Street Rodder for a article on doing interior work.
I think in my old archived Project of the Week ( Project Journal Archives- Dragon J page 7) you can see me sewing the interior of my 'J with my wife's old Singer! I just carefully cut off the old fabric, measured the new material and sewed it back together. If you've ever taken a Home Ec course (we HAD to in high school!) you can do it! Pleats are tough but if you have a good eye and follow the lines marked on the machine it can be done. Some areas need to be sewn over foam for the 'cushiness' and some needed 'hog rings' to be attached to the frames again, but if you are careful and take your time it can be done. I have done several in this manner for friends. Use good quality fabric as some is difficult to sew if you get it discount...Good luck!!