Is there away, inside of Google Documents, of creating a header/footer that has no margins, but to give the body a set of margins? I've set the margins to be 0 for placing a drawing in the header, but I would prefer that the body text not to start at the 0".
Yes. Having different margins for both the header and the body is as simple as clicking
Footer, and adjusting the margin arrow to the specifications that you desire. An example screenshot of a Google doc with different margins for the header and body: