Take design to a vinyl graphics place. Have them do a "negative" image of your design (the black is cut out). Then apply the vinyl, tape and shoot. Pull tape and vinyl and bingo you've got a logo on your truck. Follow that with clear and you're on your way.
You could also have the same place (possibly) put the image onto one of those flexible magnets. Then you don't have to permanently turn your truck into an advertisement.
- Ryan