From a source file like this:
The tool can scale images by a factor that you provide, and will automatically generate a reversed module for use on the back side of a PCB.

As mentioned on komar's techblog, it's advisable to create a solder mask negative region slightly larger than your artwork to account for process imprecision during fabrication.
A few things to note.. I don't really understand how the various parts of KiCad interpret polygons, and sometimes Inkscape will save an image in a way that the conversion process doesn't handle correctly. YMMV. Also, although support is underway for .kicad_mod (pretty) format, it hasn't been tested yet.