I make soap, especially glycerine and

Copy and paste the link in your browser. Click on a photo and go to the site.

https://www.google.com/search?q=imprint+logo+on+handmade+soap&tbm=isch&tbo=u&source=univ&sa=X&ved=0ahUKEwj91_qq3JvTAhXm64MKHdqkB4oQsAQIbg&biw=1017&bih=642&dpr=1

You can have a stamp made up and print your logo once the soap is partially set but not yet fully hardened.

I am guessing you have molds you use for your soaps. They make stamp pad rubbers for business and hobby use. Get you logo made on these rubbers and epoxy one in each mold. Each time you pour your soaps into the molds they will each come out with your logo. I would guess your molds are treated with cooking spray for easy removal, if not, the rubber stamp head would need to be.

You can also cut out your logo in a stencil and place that in your mold and your logo will be carved in

I just got one of the stamps custom made from an etsy site . I couldn't be happier !

Try doing a wax paper transfer on the wax.