If you have a logo or other vector art that you want to colorize and use in an InDesign document, open it (as a vector EPS or AI format) in Illustrator. Select the graphic and copy it to the clipboard, then paste it in your ID document. You can now resize it, select fill and stroke, even select individual parts of the image (as for instance, individual letters of a logo) to give them different fill and stroke values than the overall graphic. The pasted graphic functions in ID exactly as if you had drawn it using ID's drawing tools.