I have done it on my home machine but it is not ideal. The rubbery logos tend to grab the needle and thread. I tend to outline the logo (or stitch through when it is a narrow design area). If there are words and the letters are large, I will outline quilt around each letter. If the words are small I will just outline quilt around the entire word or line of words. here is a link to one I made. (post number 12)
http://www.quiltingboard.com/main-f1...ml#post6496970