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.
Brighter results! Applying less pressure to the pencil will produce a lighter color, so how do you get that darker hue of the color on the page without pushing too hard? The answer is layers. Once you have mastered coloring between the lines with a nice even shade, you can take the same pencil and go back over that coloring again to provide a second or even third layer of color. Applying extra layers of color will remove some of the white grain that was missed in the first layer and bring depth to your color. Mix up the direction you color each layer to produce a smoother finish.