Any embroidery software with digitizing function (i.e. capability of making vector embroidery from a raster image ) should be able to process formats like TIFF to JPEG and create an embroidery design from it. However, only certain programs support Janome formats (.jef).
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.