If you are only doing it for personal use (a few pieces for self and friends, not mass production), then under US law it is most likely legal. If you start trying to make it for profit, then you start infringing on copyright laws.
I can draw a copyrighted logo, and print it on about a dozen shirts for my friends and family, no big deal; unless the company takes offense, or we use it for some political scheme, or if I sell it for profit, then I am in violation of copyright laws.
Personal use: usually ok
Profit: NONONO!!!!!