One way (see attached screenshot)...
Place a Point object
(red) (white cross) on the generating circle (pale yellow), Group the two, and set the Center of Extents of the Group at the center of the circle. Place the generating circle tangent to the base circle (blue). Radial-copy the Group about the center of the base circle, setting "Angle" equal to 360/"Sets" and "Rot" equal to "Angle" x [(Base circle dia/generating circle dia) + 1]. Draw one Spline by Fit Points (green) through the Point objects that define one loop of the curve, then Radial-copy it about the center of the base circle to generate the complete epicycloid. (It might be necessary to add some extra points manually, to define where the curve touches the base circle. Small red circles are these extra points.)
Note: Don't use a Star for the Point object. Since ths shape is not symmetrical about the X axis, its location is somewhat ambiguous.