This is a common concern for anyone starting out with heat transfer vinyl and with transferring designs to fabric. It’s a legitimate one.
The best advice we can give with regard to avoiding transfer burning is to consider applying a test press before you do transfer any logos or writing for real.
Beyond this, it is always good practice to use a lower temperature than you might start with. This way, you can make sure you are under-heating your design as opposed to over-heating it.
Another good strategy to use to avoid spoiling or burning is to move around your iron slowly if you are using one.
A heat press will be able to support you with overall pressure that will minimise burning. It is another great reason to invest in a professional heat press, more so if you are going to print and press designs regularly!