I’m not much of a 3D guy, but most packages offer a way to extrude Illustrator or SVG paths, which is more often than not all you need to do for a logo.
I’ve used Cheetah 3D (www.cheetah3d.com) on my Mac for this purpose. It’s Mac only, pretty cheap, easy to use and allows you to do full renders in the demo version (but you can’t save the source file). It’s not as fully featured or advanced as the more commercial 3D packages (Softimage, Maya, C4D) but it is a lot cheaper, features a fairly robust tool set for the price (all the basics, skeletal animation, HDRI, rendering to movies/image sequences) and is pretty easy to get the hang of.