As for using a needle dipped in ink... no, I don't think that will work. If you want to draw it on, as opposed to painting it, get yourself some fine-tipped markers (Sakura Pigma micron pens are fantastic). Nothing wrong with sketching a design in pencil, then filling in with paint, if you want something between drawing and painting.
Honestly, I think you just need to get used to the brushes. Painting freehand is not going to feel the same as sketching the initial design. Take a piece of scrap cardboard, spray a quick basecoat, and go to town. Try laying down some lines with various curves, try sketching out some complex shapes in pencil and filling them in.
Once you've gotten used to the brushes, work up to drawing your logo at scale, lining it, and filling it in. Don't be afraid to play back and forth with your fill and base colors - most skilled freehand painters don't simply lay down their lines in one go and color it in, they build in layers, cleaning up edges as needed. Once you're comfortable with that, start slapping it on your models.
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