You can get precise work out if you simply use a pair of clamps and a non flammable ( preferably, or just consider it a single use item, or keep a bucket of water close by) guide, so that the torch will follow the set line with reasonable precision. That will, if you make a guide to control the cutter head, enable you to make a straight line, or follow a predefined curve. Otherwise it will look like a drunken sailor trying to walk uphill after a hard night on the town.
Otherwise use a NC miller, and make an adaptor to hold the torch, which has been done. For circular holes you can make a simple jig that enables you to have the torch do a precise circle. If you want better accuracy you use a laser with a gas feed to burn the cut, that at least is going to give a better edge.
Yes, just bought a plasma cutter, I make great lines that are straight, at least they mostly follow the confines of the sheet, aside from those that wander all over the place. I will have to make up some jigs to use it, simple wood edges will suffice for me.