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Vickie Howell has a free pattern on her site to make these baby lollipop leg woolies.
Vickie writes:

Knitted leg woolies are a great, Springtime alternative for baby to pair with rompers. A little extra warmth + still being able to see a little thigh chunk while kiddo is kick, kick, kicking= good stuff. They work for girl or boy (embroider trucks and lightening bolts, if trees aren’t your guy-gig), so whip up a pair to go with all of your favorite onsies!