Is there a way to make mazes from a pixel art png image?

i am looking to make a 3d maze from a pixel png, so 1 pixel = 1 cube on unity. so i could draw the whole maze on gimp and the maze would be generated in unity. Like what notch did in this picture except he used Java. the game he made was called prelude of the chambered.

Could this be done with a height map?

Yes it can be done. Here is an Answer that does something similar for a starting point:

http://answers.unity3d.com/questions/411593/spawn-objects-using-a-texture.html