Not sure what the font is but if you can't find it exactly, take a picture of it. Then take it to a reputable embroidery shop and they can digitize it for you and it will be an exact match. It is a bit more money though.
^^^ exactly. Just make sure your picture is taken true and square as any perspective distortion will translate. I would use a flatbed scanner to avoid this possible flaw versus a camera.
The Scamp logo was made before there were fonts. This is true of many mopar fonts. fortunately some have been recreated like "King Richard" or "Dodger"