You can upload a Logo using the Default WordPress Header Uploader. This is a WordPress/Genesis feature that you can access through the Customizer.
Go to Appearance > Customize and then select “Header Image“. You can upload your image on this page.
But before you do, first find out the exact size of your logo/image. By default the size is 300px width, and 60px height. You can change this in your functions.php file if you need to. Look for this code –
//* Add support for custom header
add_theme_support( 'custom-header', array(
'flex-height' => true,
'width' => 300,
'height' => 60,
'header-selector' => '.site-title a',
'header-text' => false,
) );
You would need to change the size in the functions file so that when you upload your logo you won’t have to Crop your image too much. This is how it works on all Genesis Themes. Everyone has a different sized image/logo so sometimes the directions may be a tad different. Either way I can help you get your logo up and running.
Let me know if this helps.