Jeff, as a tool and die maker what you are looking for is not cheap nor easy.
An actual embossing like that would require custom made stencils with them loaded into a tool that is then set in a press with enough tonnage to then re-form the metal into the lettering you want.
When someone is stamping like that, they are not doing just a couple, many are needed to offset the required tooling cost.
As far as stamping or pressing them yourself, you could do it they way you described, but with that you will only be able to set a letter or 2 at a time, and as you know, they will not have a "designed" look for the logo you wanted.