When I decided to line the top of my Kilby rockers with do-it-yourself roll-on truck bedliner, I had a crazy idea that I could also do the Jeep logo above them to match.  It would tie in nicely and be very cool looking and uniqe if I could pull it off.  It worked out great so here's how I did it.
Bed liner decals
In order to do this properly, you'll need access to a vinyl sticker cutter or know someone who can make one for you.  I have one so this part was simple.  I cut a sticker and removed the letters where the coating will go.  Then I masked off the surrounding area to prevent any accidental stuff from getting on the paint.  Positioning the decal perfectly was a royal pain and I went though several decals in the trial and error process.  If you do this, get extras, you'll need them.
Some of the things you may want to have before you begin: A drill with stirring attachment, paper towels, scuff pad or rough sandpaper, alcohol, masking tape, brush, coarse roller, rags, and latex gloves.  You don't want this stuff on your hands, trust me.  I used paper towels as drop cloths.
Next, take your scuff pad and rough up the paint so the bedliner sticks.  You don't need to rub very hard, and you need to take care that you don't pull up any of the corners on the vinyl.
This is about all the scuffing it takes.  Any more and you risk pulling up the edges or damaging the vinyl.  Since you've already scuffed the paint, you don't want to have to reapply a new mask if you damage this one.
Make sure you stir the paint can thoroughly to get the rubber chunks well circulated in the mixture.  You'll need a drill to do it properly.  Begin by dabbing with a brush and getting an even amount all over.
It should look like this before you hit it with the roller to even it out.
A coarse foam roller gives a nice even finish.  It will lift a bit of the material and you may need to reapply with the brush to get your desired thickness.  I chose a slightly thinner look.
As soon as I was finished rolling the decal, and it was still wet, I used a fine point tweezer to gently lift off the center of the "p" and the "e's". 
Next, remove the masking tape and the vinyl mask.  I did this also while the stuff was still wet.  Be careful not to disturb the applied coating as it will totally ruin your day.
If done properly and with attention to detail, the final product is a very unique and eye-pleasing logo that stands out and yet remains subtle.  And matches great with my coated Kilby rockers and mirrors.