But did you had a pictures to digitize on or something like this ( to respect the font/ form of the letters etc?) or you just wrote "esri" using street tools?
It might be easy to make them by making lots of small segments and then simplifying the graph with the Simplify Graph Tool. That is one way I might do it. Importing shapes from Sketchup might be a good way to guide what you draw.
Another is to import lines from a shape file you create, and then doing the same thing.