This is a model I made last year for a contest, using vray and 3ds max. After you are done with your render you can create a mesh, in this case I just used a decimated one with automatic UV. In 3dsmax you have to select your low mesh, and press 0 to open the bake panel(search on google for more detailed tutorial). I used Vray complete map, and the important part is, you have to hide the lowpoly mesh on your bake, otherwise you going to have shadows of it on your map. You can do this with right click, object properties remove cast and receive shadows. You can also right click, vray properties and remove > generate caustics, receive caustic, visible to cgi, visible in reflections and refractions. for the black border you have to duplicate the mesh, push it and invert the normals, I also made it more Low, so you can see a different outline thickness.