Changing the logo
To change the logo, you need to open the Customizer and go to the General Settings -> Site Identity section.
There are two types of logo you can use:
1. Text logo - to do this, you just need to change the Site Title parameter your new site title will be displayed as the new logo
The color of the logo (for both transparent and stick to top navigation) can be adjusted in the Header Settings -> Front Page Navigation Settings section (see this article)
2. Image logo - to set an image logo you have to select an image in the "Logo" field
There is also a dark logo parameter available that is displayed on the stick to top menu bar