The sign for queen looks like you are outlining the queen's sash with the ASL letter 'Q'.
Start by taking your dominant hand and extending your thumb and index finger into the ASL sign for 'Q'. Then take your hand and starting at the opposite shoulder, trace a path across your body to your non-dominant hip.
The sign for queen and other royalty signs such as king, prince, and princess can often be incorporated into story time.
You can teach the royal family signs together. It often helps to explain that the queen is the mommy, the king is the daddy, the princess is the girl, and the prince is the boy.