I think the biggest problem people have when drawing with crayons is that they regress to being five years old again. They hold the crayon like they're coloring again, instead of applying it like a fine art medium. Another problem is that many people want to make it perform like colored pencils. While similar in application, they are quite different. You should not use crayons and expect them to behave like colored pencils. You'll be setting yourself up for disappointment.
The idea is to fill an area by coloring the fabric behind the embroidery. Usually, this means that only the outline is embroidered, with some details added. However, tinting isn't only for coloring inside the lines. Many artists use this technique to create spectacular backgrounds, borders, and accents for their embroidery work.