Need print logo without any ID & class

You can achieve this using the get_custom_logo filter.

add_filter( 'get_custom_logo', 'wpse250683_custom_logo_output' );

function wpse250683_custom_logo_output() {
    $custom_logo_id = get_theme_mod( 'custom_logo' );
    $attachment     = wp_get_attachment_image_src( $custom_logo_id, 'full', false );
    $attachment_url="";
    if ( is_array( $attachment ) )
        $attachment_url = $attachment[0];
    $html = sprintf( '<a href="https://wordpress.stackexchange.com/questions/250683/%1$s"><img src="%2$s" /></a>',
        esc_url( home_url( "https://wordpress.stackexchange.com/" ) ),
        $attachment_url
    );
    return $html;
}