Here are some general tips for scaling, both down and up. The resolution of both the original image, and your printing resolution are important.
If scaling up, for a larger decal, the image resolution is most important, though. If it lacks resolution, this can be a hard problem- more on that later.
Scaling down is usually not an image resolution problem. However, printer resolution can be a problem. Use some simple math, though. Take the image resolution in pixels per inch, and divide by the scaling ratio. You must print at at least that much resolution. Small decals require high printing resolution.
The hardest problem is printing larger. There the original image must be hi res. Now some graphics programs can do a fair job of increasing resolution when you resize. You can set the pixels per inch to a higher value than a regular resize. If your software allows you to set options on the algorithm used in a resize, play with that.
Otherwise you have to become an artist to improve the image. First try using the resize function to just increase pixels per inch. Then try the programs sharpening function and any resize options. Finally, take the resized and higher pixel image, set your paint brush size to one pixel, and go at at by hand in bad areas.