well...you need setup image planes for your model...
in the side ( depending on your image) view, make a plane ( polygon or nurbs) then apply a material to it...and as for the color, assign that picture to it...Sure, you'll need tp tweek the position and other attributes of both the plane and the image...try it. Make sure that you press 6 while viewing the image plane..
But I am not so sure if maya has something like XSI's rotoscope option...