Build your colors gradually, and layer them. Apply a light undertone, and build darker colors slowly on top. Crayons can actually be more difficult to layer with due to the high wax content. Don't confuse them with colored pencils! If you want the "look" colored pencil, just use that instead.
Overlap Colors to Create a Blended Look. I like to lightly color the dominate color first and leave a bit of paper exposed for the wax of the second color to cling to. In the liver I colored (below), I started by coloring a layer of red, then I colored some brown on top. Then I colored more red over the top. I find this kind of layering to be really fun!