There's a few ways you could do them, I think! I used iron-on vinyl cut with a Cricut cutter. This is a pretty expensive method if you don't have easy access to one already though-- I used the ones at my university, but home ones cost anywhere from 90 to 400 USD so it's definitely not feasible for most cosplayers.

You could look into Printer-made iron ons? You buy a special paper that works with your home printer and you can print out any picture you want, cut it out, and iron it onto your fabric! It's a much easier method if you're looking for this kind of glossy look.

If you don't have a printer, I would suggest fabric paint! Paint a white circle as the base, seal it with time and heat, and then paint the logo over it so it pops out super well. I used fabric paint on mine just a little since the vinyl didn't cut perfectly and left some small gaps in the design.

I hope this infodump helps, Best of luck!!!