Use good quality crayons (Crayola works well) for the best results. Making the fill color darker around the edges is a good technique for adding dimension. As you work, don't press too hard. It's better to add layers of color than to have too much color that you can't remove. Take care to color evenly and without causing color streaks. When you're finished, place a piece of scrap fabric over the coloring and iron the paper on a high setting. This will heat set the coloring and remove excess wax.
Soft Pastels are interesting media to work with. It can also be fun for you can use your own fingers to apply the color or you can use a brush or cotton balls.Just outline the drawing with your chosen color and smudge it with your finger, brush or cotton. You can achieve a soft, hazy look with this just like the one in the picture. Plus, you can actually erase smudges using eraser.