The present study was focused on the preparation, characterization and application onto cotton fabrics of different topical oil-in-water emulsions based on chitosan, eugenol and copaiba essential oil for potential topical applications. Different amounts of copaiba essential oil (oil phases) and eugenol were used, while the water phase consisted of hamamelis water. The designed formulations were evaluated via optical microscopy and rheological parameters assessment. The textile materials treated with the developed emulsions were analyzed in terms of antibacterial efficiency and in vitro and in vivo biocompatibility. The rheological measurements have shown that the emulsions’ stability was dependent on their viscosity and structure of the colloidal systems. The emulsions remained stable at temperatures equal to or below 35 °C, but an increase in temperature led to droplet flocculation and creaming. The emulsion-treated textiles exhibited antibacterial activity against Escherichia coli and Staphylococcus aureus, and in vivo biocompatibility on the skin of guinea pigs without sensitization effects. Our study revealed that eugenol and copaiba essential oil-based emulsions loaded on cotton textile materials could be promising candidates for developing skin-friendly textiles designed for different topical applications.