If you can scan your image then import it into Maya and assign it to a poly plane or image plane.

Use the curve tool to trace it. I usually use the top view. You may have to play with it in order to get the proper layout. If you have hard angular lines in the logo then set the curve degree to 1, if there are rounded curves use degree 3. When coming to a corver using degree 3 you will have to click once just before the corner, once right on the middle of the corner and one right after .

Once you have the curves set then you can use the Bevel Plus tool to make the actual geometry, this is a pretty simple was to do it. Look at the tool setting to change how the logo will look. If you have a letter "A" for example then you have to select both curves, the inside and the outside, before hitting bevel plus.