Any embroidery software with digitizing function (ie. making vector embroidery from a bitmap) should be able to process formats like TIFF to JPEG and create an embroidery design from it. Some programs may only accept JPEGs/BMPs so you would have to first convert your TIFFs to that, but basically there should be not much of problem with this. Of course the digitizing process is not perfect. The more complex the image, the harder it will be for the engine to digitize it perfectly. Geometric shapes with few colors (logos) are pretty easy thought.
Convert Aldus Tagged Image File Format (TIFF) bitmap image to Janome embroidery layout.
We found 2 software records in the database related to .tif to .jef file format conversion.
Microsoft Windows software - convert tif to jef on Windows
An embroidery designs manager
Convert from tif file format
The tables with software actions are a good pointer for what a certain program does with various file types and often may give users a good hint how to perform certain file conversion, for example the above-mentioned tif to jef. However, it is not perfect and sometimes can show results which are not really usable because of how certain programs work with files and the possible conversion is thus actually not possible at all.
Multiplatform software - convert tif to jef on any platform
An embroidery digitizer