It really depends on what you're using for the underlying fabric. As this was pretty dark, I printed a picture of the logo, punched small holes around the perimeter it with a pin, then dusted it with talcum powder.



I traced the talcum powder with fine tip sharpie, then just banged all the talcum powder off. After that, it was just a matter of making sure you couldn't see the lines as I embroidered it.



For white fabric there are other options, like carbon paper or stuff like that, but I'm not sure as that's not really what I searched for when I was trying to figure out how to transfer the image.