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.
If you have a corner or turn that makes it really awkward not to change direction, you can either color using curved lines or color using very small circles instead of lines. Just keep in mind that how you color will always be visible and will create the appearance of texture.