The Stallings proof is really not difficult. Perhaps you are being put off by the topological language, but it is really purely combinatorial.
In your situation, it can be summarized as follows. Suppose that $G$ is free on the set $X$, and that $g$ has length $n$ as a reduced word in $ X^{\pm 1}$. It is easy to construct a map $X \to S_n$ that extends to a homomorphism $\theta:G \to S_n$ with $\theta(g) = (1,2,\ldots,n)$. Then the inverse image image of the stabilizer of $1$ in $\theta(G)$ has index $n$ in $G$ and has $g$ as a Schreier generator.