Colored Pencils is one of the easiest media to handle since they're pencils and you can control your strokes well. There are also a lot of available colors to choose from. First, cover the entire drawing with light strokes. Then, you can proceed with the thick lines to add texture and effect to your drawing. You can also add some more details in your drawing like this one. Soft pastel was used for the blue shadow_effect.
How to Crayon Tint. To crayon tint, your embroidery, start by transferring your design to the fabric. I recommend using a finely sharpened regular pencil, as it won't require water or be affected by ironing. Place the fabric in an embroidery hoop so the back of the fabric can press against a flat surface and color the design as desired.