stem stitch
Begin with a backstitch but before you pull it tight bring your needle up about half way along the stitch and just ever so slightly to the side as in the first picture.
Now bring your needle back down about a stitch length along as in picture two.
And again bring your needle up half way along the stitch slightly to the side as in picture three.
Continue in this way.
Stem stitch is great for curved lines but you can also use it on straight lines. It produces a thicker line than back stitch with the same number of threads so it can be useful if you want a line to stand out more.